Servo device and driving method of film clamp arm driving system of full-automatic film sleeving machine

Abstract

The invention relates to a full-automatic film sleeving machine film clamp arm driving system servo device and a driving method, the full-automatic film sleeving machine film clamp arm driving system servo device comprises a power supply system, a main driving system, an encoder calibration system and a control system, a speed reducer is installed on a driving motor, an encoder is installed on a rear rotating shaft of the driving motor, and the driving motor is electrically connected to the output end of a frequency converter; the encoder is mounted on the driving motor; the PLC is electrically connected to the power supply, the touch screen is installed on site, the position sensor, the encoder and the touch screen are all electrically connected to the PLC, and a control signal line of the PLC is electrically connected with a control terminal of the frequency converter. Through the mechanism, the problems that a driving device and a direct-current brush servo motor which are used at present are frequently started and stopped, a carbon brush and a commutator copper ring are seriously abraded, the equipment stability is reduced, spare parts of an Italian direct-current brush servo motor are high in price, long in goods period, not timely in goods arrival, high in equipment maintenance cost and large in influence on the production stability are solved.

Description

Technical Field

[0001] The invention relates to the technical field of packaging finished product packages in the viscose industry, and in particular to a servo device and a driving method for a film clamp arm driving system of a full-automatic film covering machine. Background Art

[0002] The fully automatic shrouding machine is used in the packaging of finished products in the viscose industry. The shrouding machine packages the finished viscose packages. The finished packages are transported to the shrouding machine by the conveyor belt, and the shrouding machine unfolds the packages and covers them on the finished packages. After the first shrouding is completed, the finished packages are sent to the bag turning machine by the conveyor belt, and the bag turning machine turns the finished packages 180 degrees, and then sent to the second shrouding machine for shrouding. After two shroudings, the viscose finished packages are packaged and sent to the next process.

[0003] The fully automatic film shrouding machine is a cold stretch film shrouding equipment, which is generally used in the packaging process of viscose production. The process flow of the whole machine is: the cold stretch film is grabbed and lifted to a certain height by the film clamp arm, cut with a film cutter, and then the bottom heat sealing mechanism is plastic-sealed and welded, and then unfolded by the film clamp arm and handed over to the stretching group upward. The stretching group unfolds the cold stretch film to the cotton bale packaging size. When the cotton bale is transported to the bottom of the film shrouding machine, the cold stretch film is put on the cotton bale, and the cotton bale filming is completed. After the filming is completed, the various action devices of the film shrouding machine return to the basic position and wait for the next filming. At present, the driving device used is an imported DC brush servo motor drive system. Due to frequent start and stop of DC brush servo motors, the carbon brushes and commutator copper rings are seriously worn, the equipment stability is reduced, and the purchase of Italian DC brush servo motor spare parts is expensive, the delivery time is long, and the arrival is not timely. The equipment maintenance cost is high, which has a great impact on production stability. Summary of the invention

[0004] The present invention provides a servo device and a driving method for a film clamp arm driving system of a fully automatic film covering machine, which solves the problems that the currently used driving device, a DC brush servo motor, suffers from severe wear of carbon brushes and commutator copper rings due to frequent starting and stopping, and equipment stability decreases. In addition, the purchase of Italian DC brush servo motor spare parts is expensive, has a long delivery period, and arrives late, resulting in high equipment maintenance costs and a great impact on production stability.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A servo device for a film clamp arm driving system of a fully automatic film covering machine, comprising:

[0007] A film clamp arm of a film covering machine, the film clamp arm of the film covering machine comprises a first film clamp, a second film clamp and a film clamp arm, and the first film clamp and the second film clamp are arranged in parallel on the film clamp arm;

[0008] The power supply system includes a power supply and a power supply cabinet. The power supply is installed in the power supply cabinet. The power supply is electrically connected to the encoder calibration system, the main drive system and the control system. The encoder calibration system process is connected to the main drive system and the control system.

[0009] The encoder calibration system includes an encoder and a frequency converter, wherein the frequency converter is installed in a power supply cabinet, the frequency converter is electrically connected to a power supply, and the encoder is installed on a drive motor;

[0010] The main driving system includes a driving motor and a reducer, the driving motor is equipped with a reducer, an encoder is installed on the rear shaft of the driving motor, the reducer is electrically connected to the first film clamp, the second film clamp and the second film clamp, and the driving motor is electrically connected to the output end of the frequency converter;

[0011] The control system includes a position sensor, a PLC controller and a touch screen. The PLC controller is installed in a power supply cabinet and electrically connected to a power supply. The touch screen is installed on site. The position sensor, the encoder and the touch screen are electrically connected to the PLC controller. The control signal line of the PLC controller is electrically connected to the control terminal of the inverter.

[0012] The beneficial effects of the present invention are: using a domestic three-phase AC asynchronous motor as a driving motor to replace the original imported DC brushed servo motor; using a frequency converter to replace the original imported servo drive card; using an AC380V power supply system to replace the original DC24V power supply system as a driving power supply; using a domestic encoder to achieve closed-loop control of the AC asynchronous motor; and using a PLC controller to control the entire system.

[0013] The on-site motion position is fed back to the PLC controller by the sensor, and the running size and distance are fed back to the PLC controller by the encoder. The PLC controller controls the start and stop of the inverter and the output frequency through the status of the position sensor and the real-time feedback of the encoder position. The PLC controller enables the inverter to control the running direction and speed of the three-phase AC asynchronous motor by giving the inverter start, forward and reverse commands and providing the inverter with an analog given voltage within the range of DC±10V. The domestic encoder is installed on the rear axle of the three-phase AC asynchronous motor, in which the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth, and the real-time motion situation is fed back to the PLC controller through its encoder.

[0014] The main drive system of the present invention is a three-phase AC drive system, which uses a three-phase AC asynchronous motor as the main drive and does not require carbon brush commutation, which completely overcomes the problems of fast carbon brush wear and high failure rate of the original DC motor. The present invention has strong stability and low maintenance cost. The present invention uses a variable frequency speed regulator to realize the start, stop and speed regulation control of the AC motor, and the speed accuracy meets the equipment requirements. The present invention installs an encoder on the AC motor body, transmits the motor speed to the PLC control system, forms a closed-loop control of the motor speed acquisition using the encoder, and transmits it to the PLC control system through a pulse signal. The PLC control system controls the output of the frequency converter through analog output, and the output of the frequency converter controls the motor speed, meeting the control accuracy. This device has a low failure rate and is stable and reliable. Spare parts are easy to purchase, the operation is simple, the operation is stable, the control system adopts an accurate PLC control system, a touch screen is used to realize human-computer dialogue, and a combination of a PLC control system and a touch screen is used to realize automatic control.

[0015] On the basis of the above technical solution, the present invention also makes the following improvements.

[0016] Furthermore, the driving motor is a three-phase AC asynchronous motor.

[0017] The beneficial effect of adopting the above further scheme is that the domestic three-phase AC asynchronous motor is used as the driving motor to replace the original imported DC brush servo motor. The three-phase AC asynchronous motor is used as the main drive, and the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth, without the need for carbon brush commutation, thus overcoming the problem of fast wear and high failure rate of the original DC motor carbon brush. In addition, the device has strong stability and low maintenance cost.

[0018] Furthermore, the power supply is an AC380V power supply system.

[0019] The beneficial effect of adopting the above further scheme is that the original DC24V power supply system is replaced by the AC380V power supply system as the driving power supply, which solves the problem that the DC motor brushes are easy to wear and the purchase cycle is long, which affects the stable operation of production. At the same time, the 380V power supply system is used to supply power to the inverter. Through the change of power supply, the closed-loop control of the AC asynchronous motor is realized, the equipment runs stably, and the maintenance cost is reduced because the spare parts are common.

[0020] Furthermore, the two film clamp arms are arranged in parallel on the film covering machine, and the first film clamp and the second film clamp are arranged opposite to each other.

[0021] The beneficial effect of adopting the above further solution is that the two film clamp arms are arranged in parallel on the film covering machine, so that the film clamp arms can move relative to each other, so that the first film clamp and the second film clamp move relative to each other. When the first film clamp and the second film clamp move relative to each other, the wrapping cloth is covered with film.

[0022] Furthermore, the main drive system includes a first drive motor, a first reducer, a second drive motor, a second reducer, a third drive motor and a third reducer, the first drive motor is installed on the first reducer, and the first drive motor and the first reducer are installed on the first membrane clamp, the second drive motor is installed on the second reducer, and the second drive motor and the second reducer are installed on the second membrane clamp, the third drive motor is installed on the third reducer, and the third drive motor and the third reducer are installed on the membrane clamp arm.

[0023] The beneficial effect of adopting the above further solution is that the first drive motor drives the first reducer to rotate forward or reversely, and the first reducer drives the first film clamp to open from the middle base position to the two ends or close from the two ends to the middle base position. The second drive motor drives the second reducer to rotate forward or reversely, and the second reducer drives the second film clamp to open from the middle base position to the two ends or close from the two ends to the middle base position.

[0024] The first drive motor and the second drive motor are synchronously controlled by the PLC controller, and the motion states are also synchronously the same. When the first membrane clamp and the second membrane clamp need to open, the PLC controller sends a start command and a DC0 to +10V analog value setting to the first frequency converter and the second frequency converter; the first frequency converter and the second frequency converter output operating frequencies to drive the first drive motor and the second drive motor to rotate forward, the first drive motor and the second drive motor drive the first reducer and the second reducer to rotate, and the first reducer and the second reducer drive the first membrane clamp and the second membrane clamp from the middle basic position to the two ends to open; when the membrane clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value setting to the first frequency converter and the second frequency converter; the first frequency converter and the second frequency converter output operating frequencies to drive the first reducer and the second reducer to rotate in the opposite direction, the first reducer and the second reducer drive the first reducer and the second reducer to rotate, and the first reducer and the second reducer drive the first membrane clamp and the second membrane clamp from the two ends to the middle basic position to close.

[0025] The third drive motor drives the third reducer to rotate forward or reverse, and the third reducer drives the membrane clamp arm to open or close. When the membrane clamp arm needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value setting to the third frequency converter; the third frequency converter outputs an operating frequency to drive the third drive motor to rotate forward, the third drive motor drives the third reducer to rotate, and the third reducer drives the membrane clamp arm to open and move to the minimum distance at both ends. When the membrane clamp arm needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value setting to the third frequency converter; the third frequency converter outputs an operating frequency to drive the third drive motor to rotate reversely, the third drive motor drives the third reducer to rotate, and the third reducer drives the membrane clamp arm to close from both ends to the minimum position in the middle.

[0026] Furthermore, the encoder calibration system includes a first encoder, a first frequency converter, a second encoder, a second frequency converter, a third encoder and a third frequency converter, the first encoder is installed on the rear shaft of the first drive motor, the second encoder is installed on the rear shaft of the second drive motor, the third encoder is installed on the rear shaft of the third drive motor, the output end of the first encoder is electrically connected to the first drive motor, the output end of the second encoder is electrically connected to the second drive motor, the output end of the third encoder is electrically connected to the third drive motor, and the control signal line of the PLC controller is electrically connected to the control terminals of the first frequency converter, the second frequency converter and the third frequency converter respectively.

[0027] The beneficial effect of adopting the above further scheme is that the first drive motor drives the first reducer to rotate forward or reversely, and the first reducer drives the first film clamp to open from the middle basic position to the two ends or close from the two ends to the middle basic position. The second drive motor drives the second reducer to rotate forward or reversely, and the second reducer drives the second film clamp to open from the middle basic position to the two ends or close from the two ends to the middle basic position. The first drive motor and the second drive motor are synchronously controlled by the PLC controller, and the movement state is also synchronously the same. When the first film clamp and the second film clamp need to be opened or closed, the PLC controller sends a start command and a DC0 to +10V or DC 0 to -10V analog quantity given to the first frequency converter and the second frequency converter; the first frequency converter and the second frequency converter output the operating frequency to drive the first drive motor and the second drive motor to rotate forward or reversely, thereby driving the first reducer and the second reducer to rotate forward or reversely. Make the first film clamp and the second film clamp open from the middle basic position to the two ends or close from the two ends to the middle basic position. The first encoder and the second encoder encoder rotate with the shafts of the first drive motor and the second drive motor, and the first encoder and the second encoder feed back the motor movement to the PLC controller, and the PLC controller monitors the movement distance of the first film clamp and the second film clamp through the first encoder and the second encoder. The first frequency converter and the second frequency converter receive the stop command issued by the PLC controller, and the first frequency converter and the second frequency converter stop running, so that the first film clamp and the second film clamp open and run to the maximum position and no longer move, or close and run to the middle basic position and no longer move.

[0028] The third drive motor drives the third reducer to rotate forward or reversely, and the third reducer drives the membrane clamp arm to open or close. The PLC controller sends a start command and a DC 0 to +10V or DC 0 to -10V analog value to the third frequency converter; the third frequency converter outputs an operating frequency to drive the third drive motor to rotate forward or reversely, and the third drive motor drives the third reducer to rotate forward or reversely, so that the membrane clamp arm opens to both ends at the minimum distance or closes to the middle at the maximum distance. The third encoder rotates with the shaft of the third drive motor, and the third encoder feeds back the motor movement to the PLC controller, and the PLC controller monitors the movement distance of the membrane clamp arm through the third encoder. The third frequency converter receives a stop command from the PLC controller, and the third frequency converter stops running, so that the membrane clamp arm opens and runs to the maximum position and no longer moves.

[0029] Furthermore, the position sensor includes a first position sensor, a second position sensor and a third position sensor. The first position sensor is arranged at the middle base position of the first membrane clamp, the second position sensor is arranged at the middle base position of the second membrane clamp, and the third position sensor is arranged at the maximum opening position of the membrane clamp arm.

[0030] The beneficial effect of adopting the above further scheme is that when the first membrane clamp and the second membrane clamp are closed to the middle basic position, the first position sensor and the second position sensor are monitored, and the PLC controller receives the signal that the first position sensor and the second position sensor are monitored, and sends a stop command to the first frequency converter and the second frequency converter, so that the first frequency converter and the second frequency converter stop running, so that the first membrane clamp and the second membrane clamp are closed and run to the middle basic position and no longer move.

[0031] When the membrane clamp arm closes to the minimum distance, the PLC controller receives a signal from the third encoder and issues a stop command to the third frequency converter, causing the third frequency converter to stop running, so that the membrane clamp arm closes and runs to the minimum distance and no longer moves.

[0032] Further, the base positions of the first film clamp and the second film clamp are monitoring positions of position sensors.

[0033] The beneficial effect of adopting the above further scheme is that the position sensor is set at the basic position of the first membrane clamp and the second membrane clamp as a monitoring position, so that the PLC controller receives the signals monitored by the first position sensor and the second position sensor, and sends a stop command to the first frequency converter and the second frequency converter, so that the first frequency converter and the second frequency converter stop running, and the first membrane clamp and the second membrane clamp are closed and run to the middle basic position and no longer move.

[0034] On the other hand, a servo device of a film clamp arm driving system of a fully automatic film covering machine, the calculation method of the inverter speed regulation is:

[0035] The actually measured width value and folding amount of the envelope are input into the W line and S line on the touch screen. The width value is input into the W line, and the folding amount is input into the S line. The internal calculation of the width value and the folding amount of the envelope is performed according to the width value calculation formula: W-160, and the folding amount calculation formula: S×2-80. The rotation speed and direction of the first drive motor, the second drive motor and the third drive motor are converted through the internally controlled width value and folding amount.

[0036] The beneficial effect of adopting the above-mentioned further scheme is that, through the calculation method of frequency converter speed regulation, the PLC controller can convert the movement values ​​of the three motors of the membrane clamp arm in each action link through the converted folding values ​​and width values. When one of the motors of the membrane clamp arm needs to move, the PLC controller sends a command to the frequency converter, and controls the forward and reverse movement and speed of the motor through the DC±10V analog quantity. The encoder value detection of the rear shaft of the motor is used to judge the operation status of the motor. When it runs to the specified position, the position feedback of the encoder is used, and the PLC control completes the start and stop control of the frequency converter to achieve closed-loop control capability.

[0037] On the other hand, a driving method of a servo device of a film clamp arm driving system of a fully automatic film covering machine is based on a servo device of a film clamp arm driving system of a fully automatic film covering machine, and the driving method is:

[0038] S1: Input the actual folding value of the cold stretch film in the folding value S line of the film roll parameter screen on the touch screen. After receiving the folding value, the PLC controller gives the maximum distance of the opening movement of the first film clamp and the second film clamp through logical conversion;

[0039] S2: The PLC controller synchronously drives the first drive motor and the second drive motor so that the motion states of the first drive motor and the second drive motor are the same;

[0040] S3: When the first membrane clamp and the second membrane clamp need to be opened, the PLC controller sends a start command and a DC0 to +10V analog value setting to the first frequency converter and the second frequency converter; the first frequency converter and the second frequency converter output an operating frequency to drive the first drive motor and the second drive motor to rotate forward, and the first drive motor and the second drive motor drive the first reducer and the second reducer to rotate, and the first reducer and the second reducer drive the first membrane clamp and the second membrane clamp to open from the middle base position to both ends;

[0041] S4: The first encoder and the second encoder encoder rotate along with the rotating shafts of the first drive motor and the second drive motor, and the first encoder and the second encoder feed back the motor movement status to the PLC controller, and the PLC controller monitors the movement distance of the first membrane clamp and the second membrane clamp through the first encoder and the second encoder. When the first membrane clamp and the second membrane clamp are opened to the maximum distance, the PLC controller sends a stop command to the first frequency converter and the second frequency converter, and the first frequency converter and the second frequency converter stop running. At this time, the first membrane clamp and the second membrane clamp are opened and run to the maximum position and no longer move;

[0042] S5: When the membrane clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value setting to the first frequency converter and the second frequency converter; the first frequency converter and the second frequency converter output operating frequencies to drive the first reducer and the second reducer to rotate in the opposite direction, and the first reducer and the second reducer drive the first reducer and the second reducer to rotate, and the first reducer and the second reducer drive the first membrane clamp and the second membrane clamp to close from both ends to the middle basic position;

[0043] S6: The first encoder and the second encoder encoder rotate along with the rotating shafts of the first drive motor and the second drive motor, and the first encoder and the second encoder feed back the motor movement status to the PLC controller, and the PLC controller monitors the movement distance of the first membrane clamp and the second membrane clamp through the first encoder and the second encoder. When the first position sensor and the second position sensor detect that the first membrane clamp and the second membrane clamp are closed to the middle basic position, the PLC controller receives the signal transmitted by the first position sensor and the second position sensor, and sends a stop command to the first frequency converter and the second frequency converter, and the first frequency converter and the second frequency converter stop running. At this time, the first membrane clamp and the second membrane clamp are closed and run to the middle basic position and no longer move;

[0044] S7: Input the actual width value of the cold stretch film in the width value W line of the film roll parameter screen on the touch screen. The PLC controller receives the width value and gives the minimum distance of the film clamp arm opening movement through logical conversion. The basic position of the maximum opening distance of the film clamp arm is the monitoring position of the third position sensor.

[0045] S8: The power supply provides AC380V power to the third frequency converter. When the membrane clamp arm needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value setting to the third frequency converter; the third frequency converter outputs an operating frequency to drive the third drive motor to rotate forward, the third drive motor drives the third reducer to rotate, and the third reducer drives the membrane clamp arm to open to both ends at the minimum distance;

[0046] S9: The third encoder rotates along with the shaft of the third drive motor, and the third encoder feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm through the third encoder. When the third position sensor detects that the membrane clamp arm is opened to the maximum distance, the PLC controller sends a stop command to the third frequency converter, and the third frequency converter stops running. At this time, the membrane clamp arm opens to the maximum position and no longer moves.

[0047] S10: When the membrane clamp arm needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value setting to the third frequency converter; the third frequency converter outputs an operating frequency to drive the third drive motor to rotate in the opposite direction, the third drive motor drives the third reducer to rotate, and the third reducer drives the membrane clamp arm to close from both ends to the minimum position in the middle;

[0048] S11: The third encoder installed on the rear shaft of the third driving motor rotates with the shaft, and the third encoder feeds back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm through the third encoder. When the membrane clamp arm closes to the minimum distance, the PLC controller receives the signal of the third encoder and sends a stop command to the third frequency converter. The third frequency converter stops running. At this time, the membrane clamp arm closes to the minimum distance and no longer moves.

[0049] The beneficial effects of adopting the above further scheme are: using domestic three-phase AC asynchronous motor as the driving motor to replace the original imported DC brush servo motor; using the inverter to replace the original imported servo drive card; using the AC380V power supply system to replace the original DC24V power supply system as the driving power supply; using the domestic encoder to realize the closed-loop control of the AC asynchronous motor; and using the PLC controller to control the entire system.

[0050] The on-site motion position is fed back to the PLC controller by the sensor, and the running size and distance are fed back to the PLC controller by the encoder. The PLC controller controls the start and stop of the inverter and the output frequency through the status of the position sensor and the real-time feedback of the encoder position. The PLC controller enables the inverter to control the running direction and speed of the three-phase AC asynchronous motor by giving the inverter start, forward and reverse commands and providing the inverter with an analog given voltage within the range of DC±10V. The domestic encoder is installed on the rear axle of the three-phase AC asynchronous motor, in which the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth, and the real-time motion situation is fed back to the PLC controller through its encoder.

[0051] The main drive system of the present invention is a three-phase AC drive system, which uses a three-phase AC asynchronous motor as the main drive and does not require carbon brush commutation, which completely overcomes the problems of fast carbon brush wear and high failure rate of the original DC motor. The present invention has strong stability and low maintenance cost. The present invention uses a variable frequency speed regulator to realize the start, stop and speed regulation control of the AC motor, and the speed accuracy meets the equipment requirements. The present invention installs an encoder on the AC motor body, transmits the motor speed to the PLC control system, forms a closed-loop control of the motor speed acquisition using the encoder, and transmits it to the PLC control system through a pulse signal. The PLC control system controls the output of the frequency converter through analog output, and the output of the frequency converter controls the motor speed, meeting the control accuracy. This device has a low failure rate and is stable and reliable. Spare parts are easy to purchase, the operation is simple, the operation is stable, the control system adopts an accurate PLC control system, a touch screen is used to realize human-computer dialogue, and a combination of a PLC control system and a touch screen is used to realize automatic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1It is a structural schematic diagram of a servo device of a film clamp arm driving system of a fully automatic film covering machine of the present invention;

[0053] Figure 2 A diagram of a film clamp arm driving system of a film clamp arm of a fully automatic film clamp machine of the present invention;

[0054] Figure 3 It is a structural schematic diagram of a servo device of a film clamp arm driving system of a fully automatic film covering machine of the present invention;

[0055] Figure 4 This is a parameter setting table of a frequency converter of a servo device of a film clamp arm driving system of a fully automatic film covering machine of the present invention;

[0056] Figure 5 This is an experimental data table of a servo device of a film clamp arm driving system of a fully automatic film covering machine of the present invention;

[0057] Figure 6 The present invention is a flow chart of a driving method of a servo device of a film clamp arm driving system of a fully automatic film covering machine.

[0058] In the accompanying drawings, the list of components represented by each reference numeral is as follows: 1-first drive motor; 2-first reducer; 3-first position sensor; 4-first membrane clamp; 6-first encoder; 7-first frequency converter; 10-second drive motor; 11-second reducer; 12-second encoder; 13-second position sensor; 14-second membrane clamp; 16-second frequency converter; 17-third drive motor; 18-third reducer; 19-third encoder; 20-third position sensor; 21-membrane clamp arm; 23-third frequency converter. DETAILED DESCRIPTION

[0059] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0060] Example 1

[0061] like Figure 1-6 As shown, a servo device of a film clamp arm driving system of a fully automatic film covering machine includes:

[0062] The film clamp arm of the film covering machine comprises a first film clamp 4, a second film clamp 14 and a film clamp arm 21, and the first film clamp 4 and the second film clamp 14 are arranged in parallel on the film clamp arm 21;

[0063] The power supply system includes a power supply and a power supply cabinet. The power supply is installed in the power supply cabinet. The power supply is electrically connected to the encoder calibration system, the main drive system and the control system. The encoder calibration system process is connected to the main drive system and the control system.

[0064] The encoder calibration system includes an encoder and a frequency converter, wherein the frequency converter is installed in a power supply cabinet, the frequency converter is electrically connected to a power supply, and the encoder is installed on a drive motor;

[0065] The main driving system includes a driving motor and a reducer, the driving motor is equipped with a reducer, an encoder is installed on the rear shaft of the driving motor, the reducer is electrically connected to the first film clamp 4, the second film clamp 14 and the film clamp arm 21, and the driving motor is electrically connected to the output end of the frequency converter;

[0066] The control system includes a position sensor, a PLC controller and a touch screen. The PLC controller is installed in a power supply cabinet and electrically connected to a power supply. The touch screen is installed on site. The position sensor, the encoder and the touch screen are electrically connected to the PLC controller. The control signal line of the PLC controller is electrically connected to the control terminal of the inverter.

[0067] Specifically, in this embodiment, a domestic three-phase AC asynchronous motor is used as a driving motor to replace the original imported DC brushed servo motor; a frequency converter is used to replace the original imported servo drive card; an AC380V power supply system is used to replace the original DC24V power supply system as a driving power supply; a domestic encoder is used to realize closed-loop control of the AC asynchronous motor; and a PLC controller is used to control the entire system.

[0068] The on-site motion position is fed back to the PLC controller by the sensor, and the running size and distance are fed back to the PLC controller by the encoder. The PLC controller controls the start and stop of the inverter and the output frequency through the status of the position sensor and the real-time feedback of the encoder position. The PLC controller enables the inverter to control the running direction and speed of the three-phase AC asynchronous motor by giving the inverter start, forward and reverse commands and providing the inverter with an analog given voltage within the range of DC±10V. The domestic encoder is installed on the rear axle of the three-phase AC asynchronous motor, in which the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth, and the real-time motion situation is fed back to the PLC controller through its encoder.

[0069] like Figure 1-6 As shown, the drive motor is a three-phase AC asynchronous motor.

[0070] Specifically, a domestic three-phase AC asynchronous motor is used as a driving motor to replace the original imported DC brushed servo motor. The three-phase AC asynchronous motor is used as the main drive, and the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth. No carbon brush commutation is required, which overcomes the problem of fast wear and high failure rate of the original DC motor carbon brush. In addition, the device has strong stability and low maintenance cost. In this embodiment, the driving motor is a three-phase AC asynchronous motor. Alternatively, the driving motor can also be other driving mechanisms with driving functions.

[0071] like Figure 1-6 As shown, the power supply is an AC380V power supply system.

[0072] Specifically, in this embodiment, an AC380V power supply system is used to replace the original DC24V power supply system as a driving power supply; alternatively, the power supply can also use other power supplies that can achieve the same or similar functions and can replace the DC24V power supply system as a driving power supply. In this embodiment, a 380V power supply system is used to supply power to the inverter. By changing the power supply, the closed-loop control of the AC asynchronous motor is achieved, the equipment runs stably, and the maintenance cost is reduced due to the common spare parts.

[0073] like Figure 1-6 As shown, the two film clamp arms 21 are arranged in parallel on the film covering machine, and the first film clamp 4 and the second film clamp 14 are arranged opposite to each other.

[0074] Specifically, the two film clamp arms 21 are arranged in parallel on the film covering machine, so that the film clamp arms 21 can move relative to each other, so that the first film clamp 4 and the second film clamp 14 move relative to each other. When the first film clamp 4 and the second film clamp 14 move relative to each other, the wrapping cloth is covered with film.

[0075] like Figure 1-6 As shown, the main drive system includes a first drive motor 1, a first reducer 2, a second drive motor 10, a second reducer 11, a third drive motor 17 and a third reducer 18. The first drive motor 1 is installed on the first reducer 2, and the first drive motor 1 and the first reducer 2 are installed on the first membrane clamp 4. The second drive motor 10 is installed on the second reducer 11, and the second drive motor 10 and the second reducer 11 are installed on the second membrane clamp 14. The third drive motor 17 is installed on the third reducer 18, and the third drive motor 17 and the third reducer 18 are installed on the membrane clamp arm 21.

[0076] Specifically, the first drive motor 1 drives the first reducer 2 to rotate forward or reversely, and the first reducer 2 drives the first film clamp 4 to open from the middle base position to both ends or close from both ends to the middle base position. The second drive motor 10 drives the second reducer 11 to rotate forward or reversely, and the second reducer 11 drives the second film clamp 14 to open from the middle base position to both ends or close from both ends to the middle base position.

[0077] The first drive motor 1 and the second drive motor 10 are synchronously controlled by the PLC controller, and their motion states are also synchronous. When the first film clamp 4 and the second film clamp 14 need to open, the PLC controller sends a start command and a DC0 to +10V analog value to the first frequency converter 7 and the second frequency converter 16; in this embodiment, the DC0 to +10V analog value is used. Figure 4 The high voltage at terminal 53 in rows 6-11 is positive 10 volts, and the direction of positive 10 volts is forward rotation. Figure 4 The data in is input to the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output the operating frequency to drive the first drive motor 1 and the second drive motor 10 to rotate forward. The first drive motor 1 and the second drive motor 10 drive the first reducer 2 and the second reducer 11 to rotate. The first reducer 2 and the second reducer 11 drive the first membrane clamp 4 and the second membrane clamp 14 to open from the middle base position to both ends. When the membrane clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value to the first frequency converter 7 and the second frequency converter 16. In this embodiment, the DC0 to -10V analog value adopts Figure 4 The low voltage at terminal 53 in rows 6-10 is negative ten volts, and the direction of negative ten volts is reverse. Figure 4 The data in is input into the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output operating frequencies to drive the first reducer 2 and the second reducer 11 to rotate in the opposite direction. The first reducer 2 and the second reducer 11 drive the first reducer 2 and the second reducer 11 to rotate. The first reducer 2 and the second reducer 11 drive the first membrane clamp 4 and the second membrane clamp 14 to close from both ends to the middle basic position.

[0078] The third driving motor 17 drives the third reducer 18 to rotate forward or reversely, and the third reducer 18 drives the film clamp arm 21 to open or close.

[0079] When the film clamp arm 21 needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value to the third frequency converter 23; in this embodiment, the DC 0 to +10V analog value is used. Figure 4 The high voltage at terminal 53 in rows 6-11 is positive 10 volts, and the direction of positive 10 volts is forward rotation. Figure 4The data in the input is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs the operating frequency to drive the third drive motor 17 to rotate forward. The third drive motor 17 drives the third reducer 18 to rotate. The third reducer 18 drives the film clamp arm 21 to open to both ends at the minimum distance. When the film clamp arm 21 needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value to the third frequency converter 23; in this embodiment, the DC0 to -10V analog value adopts Figure 4 The low voltage at terminal 53 in rows 6-10 is negative ten volts, and the direction of negative ten volts is reverse. Figure 4 The data in is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs an operating frequency to drive the third drive motor 17 to rotate in the opposite direction. The third drive motor 17 drives the third reducer 18 to rotate. The third reducer 18 drives the membrane clamp arm 21 to close from both ends to the middle minimum position.

[0080] like Figure 1-6 As shown, the encoder calibration system includes a first encoder 6, a first frequency converter 7, a second encoder 12, a second frequency converter 16, a third encoder 19 and a third frequency converter 23. The first encoder 6 is installed on the rear shaft of the first drive motor 1, the second encoder 12 is installed on the rear shaft of the second drive motor 10, and the third encoder 19 is installed on the rear shaft of the third drive motor 17. The output end of the first encoder 6 is electrically connected to the first drive motor 1, the output end of the second encoder 12 is electrically connected to the second drive motor 10, and the output end of the third encoder 19 is electrically connected to the third drive motor 17. The control signal lines of the PLC controller are electrically connected to the control terminals of the first frequency converter 7, the second frequency converter 16 and the third frequency converter 23 respectively.

[0081] Specifically, the first drive motor 1 drives the first reducer 2 to rotate forward or reversely, and the first reducer 2 drives the first membrane clamp 4 to open from the middle base position to both ends or to close from both ends to the middle base position. The second drive motor 10 drives the second reducer 11 to rotate forward or reversely, and the second reducer 11 drives the second membrane clamp 14 to open from the middle base position to both ends or to close from both ends to the middle base position. The first drive motor 1 and the second drive motor 10 are synchronously controlled by the PLC controller, and the movement states are also synchronous and the same. When the first membrane clamp 4 and the second membrane clamp 14 need to open or close, the PLC controller sends a start command and a DC0 to +10V or DC 0 to -10V analog value to the first frequency converter 7 and the second frequency converter 16; in this embodiment, the DC0 to +10V analog value adopts Figure 4 The high voltage at terminal 53 in rows 6-11 is positive 10 volts, and the direction of positive 10 volts is forward rotation; the DC0 to -10V analog quantity adopts Figure 4The low voltage at terminal 53 in rows 6-10 is negative ten volts, and the direction of negative ten volts is reverse; according to Figure 4 The data in is input to the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output the operating frequency to drive the first drive motor 1 and the second drive motor 10 to rotate forward or reversely, thereby driving the first reducer 2 and the second reducer 11 to rotate forward or reversely. The first film clamp 4 and the second film clamp 14 are opened from the middle basic position to the two ends or closed from the two ends to the middle basic position. The first encoder 6 and the second encoder 12 encoders rotate with the rotating shafts of the first drive motor 1 and the second drive motor 10. The first encoder 6 and the second encoder 12 feed back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the first film clamp 4 and the second film clamp 14 through the first encoder 6 and the second encoder 12. The control signal line of the PLC controller is electrically connected to the control terminals of the first frequency converter 7, the second frequency converter 16 and the third frequency converter 23 respectively.

[0082] The third drive motor 17 drives the third reducer 18 to rotate forward or reverse, and the third reducer 18 drives the film clamp arm 21 to open or close. The PLC controller sends a start command and a DC 0 to +10V or DC 0 to -10V analog value to the third inverter 23; in this embodiment, the DC0 to +10V analog value is used Figure 4 The high voltage at terminal 53 in rows 6-11 is positive 10 volts, and the direction of positive 10 volts is forward rotation; the DC0 to -10V analog quantity adopts Figure 4 The low voltage at terminal 53 in rows 6-10 is negative ten volts, and the direction of negative ten volts is reverse; according to Figure 4 The data in is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs the operating frequency to drive the third drive motor 17 to rotate forward or reversely. The third drive motor 17 drives the third reducer 18 to rotate forward or reversely, so that the membrane clamp arm 21 opens to both ends at the minimum distance or closes to the middle at the maximum distance. The third encoder 19 rotates with the shaft of the third drive motor 17. The third encoder 19 feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm 21 through the third encoder 19. The third frequency converter 23 receives the stop command issued by the PLC controller, and the third frequency converter 23 stops running, so that the membrane clamp arm 21 opens and runs to the maximum position and no longer moves.

[0083] like Figure 1-6 As shown, the position sensor includes a first position sensor 3, a second position sensor 13 and a third position sensor 20. The first position sensor 3 is arranged at the middle base position of the first membrane clamp 4, the second position sensor 13 is arranged at the middle base position of the second membrane clamp 14, and the third position sensor 20 is arranged at the maximum opening position of the membrane clamp arm 21.

[0084] Specifically, when the first membrane clamp 4 and the second membrane clamp 14 are closed to the middle basic position, the first position sensor 3 and the second position sensor 13 are detected, and the PLC controller receives the signal that the first position sensor 3 and the second position sensor 13 are detected, and sends a stop command to the first frequency converter 7 and the second frequency converter 16, so that the first frequency converter 7 and the second frequency converter 16 stop running, so that the first membrane clamp 4 and the second membrane clamp 14 close and run to the middle basic position and no longer move.

[0085] When the film clamp arm 21 closes the minimum distance, the PLC controller receives the signal from the third encoder 19 and sends a stop command to the third frequency converter 23, so that the third frequency converter 23 stops running, and the film clamp arm 21 closes and runs to the minimum distance and no longer moves.

[0086] like Figure 1-6 As shown, the basic positions of the first film clamp 4 and the second film clamp 14 are the position sensor monitoring positions.

[0087] Specifically, the position sensor is set at the basic position of the first membrane clamp 4 and the second membrane clamp 14 as a monitoring position, so that the PLC controller receives the signals monitored by the first position sensor 3 and the second position sensor 13, and sends a stop command to the first frequency converter 7 and the second frequency converter 16, so that the first frequency converter 7 and the second frequency converter 16 stop running, and the first membrane clamp 4 and the second membrane clamp 14 close and run to the middle basic position and no longer move.

[0088] The beneficial effects of this embodiment are: using a domestic three-phase AC asynchronous motor as a drive motor to replace the original imported DC brushed servo motor; using a frequency converter to replace the original imported servo drive card; using an AC380V power supply system to replace the original DC24V power supply system as a drive power supply; using a domestic encoder to achieve closed-loop control of the AC asynchronous motor; and using a PLC controller to control the entire system.

[0089] The on-site motion position is fed back to the PLC controller by the sensor, and the running size and distance are fed back to the PLC controller by the encoder. The PLC controller controls the start and stop of the frequency converter and the output frequency through the state of the position sensor and the real-time feedback of the encoder position. The PLC controller enables the frequency converter to control the running direction and speed of the three-phase AC asynchronous motor by giving the frequency converter start, forward and reverse commands, and providing the frequency converter with an analog given voltage within the range of DC±10V. The domestic encoder is installed on the rear axle of the three-phase AC asynchronous motor, wherein the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth, and the real-time motion situation is fed back to the PLC controller through its encoder. The main drive system of the present invention is a three-phase AC drive system, which uses a three-phase AC asynchronous motor as the main drive, does not require carbon brush commutation, and completely overcomes the problems of fast wear and high failure rate of the original DC motor carbon brush. The present invention has strong stability and low maintenance cost. The present invention uses a variable frequency speed regulator to realize the start, stop and speed regulation control of the AC motor, and the speed accuracy meets the equipment requirements. The present invention adds an encoder to the AC motor body, transmits the motor speed to the PLC control system, forms a closed-loop control system that uses the encoder to collect the motor speed and transmits it to the PLC control system through a pulse signal. The PLC control system controls the output of the frequency converter through analog output, and the output of the frequency converter controls the motor speed to meet the control accuracy. The device has a low failure rate and is stable and reliable. Spare parts are easy to purchase, the operation is simple, and the operation is stable. The control system adopts an accurate PLC control system, uses a touch screen to realize human-computer dialogue, and uses a combination of a PLC control system and a touch screen to realize automatic control.

[0090] The working process of this embodiment is as follows: the first driving motor 1 drives the first reducer 2 to rotate forward or reversely, and the first reducer 2 drives the first film clamp 4 to open from the middle base position to the two ends or close from the two ends to the middle base position. The second driving motor 10 drives the second reducer 11 to rotate forward or reversely, and the second reducer 11 drives the second film clamp 14 to open from the middle base position to the two ends or close from the two ends to the middle base position.

[0091] The first drive motor 1 and the second drive motor 10 are synchronously controlled by the PLC controller, and their motion states are also synchronous. When the first film clamp 4 and the second film clamp 14 need to open, the PLC controller sends a start command and a DC0 to +10V analog value to the first frequency converter 7 and the second frequency converter 16. Figure 4The data in is input into the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output the operating frequency to drive the first drive motor 1 and the second drive motor 10 to rotate in the forward direction. The first drive motor 1 and the second drive motor 10 drive the first reducer 2 and the second reducer 11 to rotate. The first reducer 2 and the second reducer 11 drive the first membrane clamp 4 and the second membrane clamp 14 to move from the middle base position to the two ends. The first encoder 6 and the second encoder 12 encoders rotate with the rotating shafts of the first drive motor 1 and the second drive motor 10. The first encoder 6 and the second encoder 12 feed back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the first membrane clamp 4 and the second membrane clamp 14 through the first encoder 6 and the second encoder 12.

[0092] When the film clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value setting to the first inverter 7 and the second inverter 16. Figure 4 The data in is input to the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output the operating frequency to drive the first reducer 2 and the second reducer 11 to rotate in the opposite direction. The first reducer 2 and the second reducer 11 drive the first reducer 2 and the second reducer 11 to rotate. The first reducer 2 and the second reducer 11 drive the first film clamp 4 and the second film clamp 14 to move from both ends to the middle basic position. The first encoder 6 and the second encoder 12 encoders rotate with the shafts of the first drive motor 1 and the second drive motor 10. The first encoder 6 and the second encoder 12 feed back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the first film clamp 4 and the second film clamp 14 through the first encoder 6 and the second encoder 12.

[0093] When the first membrane clamp 4 and the second membrane clamp 14 are closed to the middle basic position, the first position sensor 3 and the second position sensor 13 are detected, and the PLC controller receives the signal that the first position sensor 3 and the second position sensor 13 are detected, and sends a stop command to the first frequency converter 7 and the second frequency converter 16, so that the first frequency converter 7 and the second frequency converter 16 stop running, so that the first membrane clamp 4 and the second membrane clamp 14 close and run to the middle basic position and no longer move.

[0094] The third drive motor 17 drives the third reducer 18 to rotate forward or reverse, and the third reducer 18 drives the film clamp arm 21 to open or close. When the film clamp arm 21 needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value to the third inverter 23, according to Figure 4The data in is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs the operating frequency to drive the third drive motor 17 to rotate in the forward direction. The third drive motor 17 drives the third reducer 18 to rotate. The third reducer 18 drives the film clamp arm 21 to move to open at both ends at the minimum distance. The third encoder 19 rotates with the shaft of the third drive motor 17. The third encoder 19 feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the film clamp arm 21 through the third encoder 19.

[0095] When the film clamp arm 21 needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value setting to the third frequency converter 23. Figure 4 The data in is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs the operating frequency to drive the third drive motor 17 to rotate in the opposite direction. The third drive motor 17 drives the third reducer 18 to rotate. The third reducer 18 drives the membrane clamp arm 21 to close from both ends to the minimum position in the middle. The third encoder 19 rotates with the shaft of the third drive motor 17. The third encoder 19 feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm 21 through the third encoder 19. When the membrane clamp arm 21 closes the minimum distance, the PLC controller receives the signal of the third encoder 19 and sends a stop command to the third frequency converter 23, so that the third frequency converter 23 stops running, so that the membrane clamp arm 21 closes and runs to the minimum distance and no longer moves.

[0096] Example 2

[0097] like Figure 3 As shown, based on Example 1, the calculation method of the inverter speed regulation is:

[0098] The actually measured width value and folding amount of the envelope are input into the W line and S line on the touch screen, the width value is input into the W line, and the folding amount is input into the S line. The internal calculation of the width value and the folding amount of the envelope is performed according to the width value calculation formula: W-160, and the folding amount calculation formula: S×2-80. The rotation speed and direction of the first drive motor 1, the second drive motor 10 and the third drive motor 17 are converted through the internally controlled width value and folding amount.

[0099] The beneficial effect of adopting the above scheme is that, through the calculation method of frequency converter speed regulation, the PLC controller can convert the movement values ​​of the first drive motor 1, the second drive motor 10 and the third drive motor 17 in each action link through the converted folding value and width value. When the motor in the membrane clamp arm 21 needs to move, the PLC controller sends a command to the frequency converter, and controls the forward and reverse movement and speed of the motor through the DC±10V analog quantity. The encoder value detection of the rear shaft of the motor is used to judge the operation status of the motor. When it runs to the specified position, the position feedback of the encoder is used, and the PLC control completes the start and stop control of the frequency converter to achieve closed-loop control capability. Figure 5 is the test data table, Figure 5 Various sizes of casing membranes were tested, and the tests showed that the present invention has stable operation and reliable casing membranes.

[0100] The working process of this embodiment is as follows: the operator measures the actual width value and folding amount of the film, inputs the actually measured width value W and folding amount S into the corresponding screen of the on-site touch screen respectively, and converts them through the internally controlled width calculation formula of W-160 and the internally controlled folding calculation formula of S×2-80, and transmits the converted values ​​to the PLC controller, and the PLC controller issues instructions to the first frequency converter 7, the second frequency converter 16 and the third frequency converter 23, and the first encoder 6, the second encoder 12 and the third encoder 19 issue forward or reverse instructions to the first drive motor 1, the second drive motor 10 and the third drive motor 17 through the instructions issued by the PLC controller, and the first drive motor 1, the second drive motor 10 and the third drive motor 17 drive the first reducer 2, the second reducer 11 and the third reducer 18 to rotate forward or reverse, and the first reducer 2 drives the first film clamp 4 to open from the middle base position to the two ends or close from the two ends to the middle base position. The second reducer 11 drives the second film clamp 14 to open from the middle base position to the two ends or to close from the two ends to the middle base position. The first encoder 6 and the second encoder 12 feed back the motor movement to the PLC controller, and the PLC controller monitors the movement distance of the first film clamp 4 and the second film clamp 14 through the first encoder 6 and the second encoder 12. The third reducer 18 drives the film clamp arm 21 to open or close. The third encoder 19 feeds back the motor movement to the PLC controller, and the PLC controller monitors the movement distance of the film clamp arm 21 through the third encoder 19.

[0101] Example 3

[0102] like Figure 1-6 As shown, based on Example 1 and Example 2, a driving method for a servo device of a film clamp arm driving system of a fully automatic film covering machine is:

[0103] S1: Input the actual folding value of the cold stretch film in the folding value S line in the film roll parameter screen on the touch screen. After receiving the folding value, the PLC controller gives the maximum distance of the opening movement of the first film clamp 4 and the second film clamp 14 through logical conversion;

[0104] S2: The PLC controller synchronously drives the first drive motor 1 and the second drive motor 10 so that the motion states of the first drive motor 1 and the second drive motor 10 are the same;

[0105] S3: When the first membrane clamp 4 and the second membrane clamp 14 need to be opened, the PLC controller sends a start command and a DC0 to +10V analog value setting to the first frequency converter 7 and the second frequency converter 16; the first frequency converter 7 and the second frequency converter 16 output an operating frequency to drive the first drive motor 1 and the second drive motor 10 to rotate forward, and the first drive motor 1 and the second drive motor 10 drive the first reducer 2 and the second reducer 11 to rotate, and the first reducer 2 and the second reducer 11 drive the first membrane clamp 4 and the second membrane clamp 14 to open from the middle base position to both ends;

[0106] S4: The first encoder 6 and the second encoder 12 encoders rotate along with the shafts of the first drive motor 1 and the second drive motor 10, and the first encoder 6 and the second encoder 12 feed back the motor movement to the PLC controller, and the PLC controller monitors the movement distance of the first film clamp 4 and the second film clamp 14 through the first encoder 6 and the second encoder 12. When the first film clamp 4 and the second film clamp 14 are opened to the maximum distance, the PLC controller sends a stop command to the first frequency converter 7 and the second frequency converter 16, and the first frequency converter 7 and the second frequency converter 16 stop running. At this time, the first film clamp 4 and the second film clamp 14 are opened and run to the maximum position and no longer move;

[0107] S5: When the membrane clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value setting to the first frequency converter 7 and the second frequency converter 16; the first frequency converter 7 and the second frequency converter 16 output an operating frequency to drive the first reducer 2 and the second reducer 11 to rotate in the opposite direction, and the first reducer 2 and the second reducer 11 drive the first reducer 2 and the second reducer 11 to rotate, and the first reducer 2 and the second reducer 11 drive the first membrane clamp 4 and the second membrane clamp 14 to close from both ends to the middle basic position;

[0108] S6: The first encoder 6 and the second encoder 12 encoders rotate along with the shafts of the first drive motor 1 and the second drive motor 10, and the first encoder 6 and the second encoder 12 feed back the motor movement to the PLC controller, and the PLC controller monitors the movement distance of the first membrane clamp 4 and the second membrane clamp 14 through the first encoder 6 and the second encoder 12. When the first position sensor 3 and the second position sensor 13 detect that the first membrane clamp 4 and the second membrane clamp 14 are closed to the middle basic position, the PLC controller receives the signal transmitted by the first position sensor 3 and the second position sensor 13, and sends a stop command to the first frequency converter 7 and the second frequency converter 16, and the first frequency converter 7 and the second frequency converter 16 stop running. At this time, the first membrane clamp 4 and the second membrane clamp 14 close and run to the middle basic position and no longer move;

[0109] S7: Input the actual width value of the cold stretch film in the width value W line of the film roll parameter screen on the touch screen. The PLC controller receives the width value and gives the minimum distance of the film clamp arm 21 opening movement through logical conversion. The base position of the maximum opening distance of the film clamp arm 21 is the monitoring position of the third position sensor 20.

[0110] S8: The power supply is provided to the third frequency converter 23 to input AC380V power. When the membrane clamp arm 21 needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value setting to the third frequency converter 23; the third frequency converter 23 outputs an operating frequency to drive the third drive motor 17 to rotate forward, the third drive motor 17 drives the third reducer 18 to rotate, and the third reducer 18 drives the membrane clamp arm 21 to open to both ends at the minimum distance;

[0111] S9: The third encoder 19 rotates along with the shaft of the third drive motor 17, and the third encoder 19 feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm 21 through the third encoder 19. When the third position sensor 20 detects that the membrane clamp arm 21 is opened to the maximum distance, the PLC controller sends a stop command to the third frequency converter 23, and the third frequency converter 23 stops running. At this time, the membrane clamp arm 21 opens and runs to the maximum position and no longer moves.

[0112] S10: When the membrane clamp arm 21 needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value setting to the third frequency converter 23; the third frequency converter 23 outputs an operating frequency to drive the third drive motor 17 to rotate in the opposite direction, the third drive motor 17 drives the third reducer 18 to rotate, and the third reducer 18 drives the membrane clamp arm 21 to close from both ends to the middle minimum position;

[0113] S11: The third encoder 19 installed on the rear shaft of the third drive motor 17 rotates with the shaft. The third encoder 19 feeds back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm 21 through the third encoder 19. When the membrane clamp arm 21 closes to the minimum distance, the PLC controller receives the signal of the third encoder 19, and sends a stop command to the third frequency converter 23. The third frequency converter 23 stops running. At this time, the membrane clamp arm 21 closes and runs to the minimum distance and no longer moves.

[0114] The beneficial effects of adopting the above scheme are: using domestic three-phase AC asynchronous motor as the driving motor to replace the original imported DC brushed servo motor; using the inverter to replace the original imported servo drive card; using the AC380V power supply system to replace the original DC24V power supply system as the driving power supply; using the domestic encoder to realize the closed-loop control of the AC asynchronous motor; and using the PLC controller to control the entire system.

[0115] The on-site motion position is fed back to the PLC controller by the sensor, and the running size and distance are fed back to the PLC controller by the encoder. The PLC controller controls the start and stop of the inverter and the output frequency through the status of the position sensor and the real-time feedback of the encoder position. The PLC controller enables the inverter to control the running direction and speed of the three-phase AC asynchronous motor by giving the inverter start, forward and reverse commands and providing the inverter with an analog given voltage within the range of DC±10V. The domestic encoder is installed on the rear axle of the three-phase AC asynchronous motor, in which the three-phase AC asynchronous motor drives the reducer to make the membrane clamp move back and forth, and the real-time motion situation is fed back to the PLC controller through its encoder.

[0116] The main drive system of the present invention is a three-phase AC drive system, which uses a three-phase AC asynchronous motor as the main drive and does not require carbon brush commutation, which completely overcomes the problems of fast carbon brush wear and high failure rate of the original DC motor. The present invention has strong stability and low maintenance cost. The present invention uses a variable frequency speed regulator to realize the start, stop and speed regulation control of the AC motor, and the speed accuracy meets the equipment requirements. The present invention installs an encoder on the AC motor body, transmits the motor speed to the PLC control system, forms a closed-loop control of the motor speed acquisition using the encoder, and transmits it to the PLC control system through a pulse signal. The PLC control system controls the output of the frequency converter through analog output, and the output of the frequency converter controls the motor speed, meeting the control accuracy. This device has a low failure rate and is stable and reliable. Spare parts are easy to purchase, the operation is simple, the operation is stable, the control system adopts an accurate PLC control system, a touch screen is used to realize human-computer dialogue, and a combination of a PLC control system and a touch screen is used to realize automatic control.

[0117] The working process of this embodiment is as follows: the operator measures the actual width value and folding amount of the envelope, inputs the actually measured width value W and folding amount S into the corresponding screen of the on-site touch screen, and converts them through the internally controlled width calculation formula W-160 and the internally controlled folding calculation formula S×2-80, and transmits the converted values ​​to the PLC controller. The PLC controller issues instructions to the first frequency converter 7, the second frequency converter 16 and the third frequency converter 23, and the first encoder 6, the second encoder 12 and the third encoder 19 issue forward or reverse instructions to the first drive motor 1, the second drive motor 10 and the third drive motor 17 through the instructions issued by the PLC controller.

[0118] The first drive motor 1 drives the first reducer 2 to rotate forward or reversely, and the first reducer 2 drives the first film clamp 4 to open from the middle base position to both ends or close from both ends to the middle base position. The second drive motor 10 drives the second reducer 11 to rotate forward or reversely, and the second reducer 11 drives the second film clamp 14 to open from the middle base position to both ends or close from both ends to the middle base position.

[0119] The first drive motor 1 and the second drive motor 10 are synchronously controlled by the PLC controller, and their motion states are also synchronous. When the first film clamp 4 and the second film clamp 14 need to open, the PLC controller sends a start command and a DC0 to +10V analog value to the first frequency converter 7 and the second frequency converter 16. Figure 4 The data in is input into the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output the operating frequency to drive the first drive motor 1 and the second drive motor 10 to rotate in the forward direction. The first drive motor 1 and the second drive motor 10 drive the first reducer 2 and the second reducer 11 to rotate. The first reducer 2 and the second reducer 11 drive the first membrane clamp 4 and the second membrane clamp 14 to move from the middle base position to the two ends. The first encoder 6 and the second encoder 12 encoders rotate with the rotating shafts of the first drive motor 1 and the second drive motor 10. The first encoder 6 and the second encoder 12 feed back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the first membrane clamp 4 and the second membrane clamp 14 through the first encoder 6 and the second encoder 12.

[0120] When the film clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value setting to the first inverter 7 and the second inverter 16. Figure 4The data in is input to the first frequency converter 7 and the second frequency converter 16 for parameter setting. The first frequency converter 7 and the second frequency converter 16 output the operating frequency to drive the first reducer 2 and the second reducer 11 to rotate in the opposite direction. The first reducer 2 and the second reducer 11 drive the first reducer 2 and the second reducer 11 to rotate. The first reducer 2 and the second reducer 11 drive the first film clamp 4 and the second film clamp 14 to move from both ends to the middle basic position. The first encoder 6 and the second encoder 12 encoders rotate with the shafts of the first drive motor 1 and the second drive motor 10. The first encoder 6 and the second encoder 12 feed back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the first film clamp 4 and the second film clamp 14 through the first encoder 6 and the second encoder 12.

[0121] When the first membrane clamp 4 and the second membrane clamp 14 are closed to the middle basic position, the first position sensor 3 and the second position sensor 13 are detected, and the PLC controller receives the signal that the first position sensor 3 and the second position sensor 13 are detected, and sends a stop command to the first frequency converter 7 and the second frequency converter 16, so that the first frequency converter 7 and the second frequency converter 16 stop running, so that the first membrane clamp 4 and the second membrane clamp 14 close and run to the middle basic position and no longer move.

[0122] The third drive motor 17 drives the third reducer 18 to rotate forward or reverse, and the third reducer 18 drives the film clamp arm 21 to open or close. When the film clamp arm 21 needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value to the third inverter 23, according to Figure 4 The data in is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs the operating frequency to drive the third drive motor 17 to rotate in the forward direction. The third drive motor 17 drives the third reducer 18 to rotate. The third reducer 18 drives the film clamp arm 21 to move to open at both ends at the minimum distance. The third encoder 19 rotates with the shaft of the third drive motor 17. The third encoder 19 feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the film clamp arm 21 through the third encoder 19.

[0123] When the film clamp arm 21 needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value setting to the third frequency converter 23. Figure 4The data in is input to the third frequency converter 23 for parameter setting. The third frequency converter 23 outputs the operating frequency to drive the third drive motor 17 to rotate in the opposite direction. The third drive motor 17 drives the third reducer 18 to rotate. The third reducer 18 drives the membrane clamp arm 21 to close from both ends to the minimum position in the middle. The third encoder 19 rotates with the shaft of the third drive motor 17. The third encoder 19 feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm 21 through the third encoder 19. When the membrane clamp arm 21 closes the minimum distance, the PLC controller receives the signal of the third encoder 19 and sends a stop command to the third frequency converter 23, so that the third frequency converter 23 stops running, so that the membrane clamp arm 21 closes and runs to the minimum distance and no longer moves.

[0124] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0125] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0126] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0127] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0128] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0129] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A servo device for the film clamp arm drive system of a fully automatic film covering machine, characterized in that: include A film clamp arm of a film covering machine, the film clamp arm comprising a first film clamp (4), a second film clamp (14) and a film clamp arm (21), wherein the first film clamp (4) and the second film clamp (14) are respectively arranged on the two film clamp arms (21); A power supply system, comprising a power supply and a power supply cabinet, wherein the power supply is installed in the power supply cabinet, the power supply is electrically connected to an encoder calibration system, a main drive system and a control system, and the encoder calibration system is connected to the main drive system and the control system; An encoder calibration system, comprising an encoder and a frequency converter, wherein the frequency converter is installed in the power supply cabinet, the frequency converter is electrically connected to the power supply, and the encoder is installed on the drive motor; A main drive system comprises a drive motor and a reducer, wherein the drive motor is equipped with the reducer, an encoder is equipped on the rear shaft of the drive motor, the reducer is electrically connected to the first film clamp (4), the second film clamp (14) and the film clamp arm (21), and the drive motor is electrically connected to the output end of the frequency converter; A control system includes a position sensor, a PLC controller and a touch screen, wherein the PLC controller is installed in a power supply cabinet and electrically connected to the power supply, the touch screen is installed on site, the position sensor, the encoder and the touch screen are all electrically connected to the PLC controller, and the control signal line of the PLC controller is electrically connected to the control terminal of the inverter.

2. According to claim 1, a servo device for a film clamp arm driving system of a fully automatic film covering machine is characterized in that: The driving motor is a three-phase AC asynchronous motor.

3. The servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 1 is characterized in that: The power supply is an AC380V power supply system.

4. The servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 1 is characterized in that: The two film clamp arms (21) are arranged in parallel on the film covering machine, and the first film clamp (4) and the second film clamp (14) are arranged opposite to each other.

5. The servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 1 is characterized in that: The main drive system comprises a first drive motor (1), a first reducer (2), a second drive motor (10), a second reducer (11), a third drive motor (17) and a third reducer (18); the first drive motor (1) is mounted on the first reducer (2), and the first drive motor (1) and the first reducer (2) are mounted on the first membrane clamp (4); the second drive motor (10) is mounted on the second reducer (11), and the second drive motor (10) and the second reducer (11) are mounted on the second membrane clamp (14); the third drive motor (17) is mounted on the third reducer (18), and the third drive motor (17) and the third reducer (18) are mounted on the membrane clamp arm (21).

6. The servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 1 is characterized in that: The encoder calibration system comprises a first encoder (6), a first frequency converter (7), a second encoder (12), a second frequency converter (16), a third encoder (19) and a third frequency converter (23); the first encoder (6) is mounted on the rear shaft of the first drive motor (1); the second encoder (12) is mounted on the rear shaft of the second drive motor (10); the third encoder (19) is mounted on the rear shaft of the third drive motor (17); the output end of the first encoder (6) is electrically connected to the first drive motor (1); the output end of the second encoder (12) is electrically connected to the second drive motor (10); the output end of the third encoder (19) is electrically connected to the third drive motor (17); and the control signal line of the PLC controller is electrically connected to the control terminals of the first frequency converter (7), the second frequency converter (16) and the third frequency converter (23) respectively.

7. The servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 1 is characterized in that: The position sensor comprises a first position sensor (3), a second position sensor (13) and a third position sensor (20), wherein the first position sensor (3) is arranged at the middle base position of the first membrane clamp (4), the second position sensor (13) is arranged at the middle base position of the second membrane clamp (14), and the third position sensor (20) is arranged at the maximum opening position of the membrane clamp arm (21).

8. The servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 7 is characterized in that: The base positions of the first film clamp (4) and the second film clamp (14) are position sensor monitoring positions.

9. A servo device for a film clamp arm driving system of a fully automatic film covering machine according to any one of claims 1 to 8, characterized in that: The calculation method of frequency converter speed regulation is: The width value and folding amount of the envelope actually measured are input into the W line and the S line on the touch screen, the width value is input into the W line, and the folding amount is input into the S line. The width value and the folding amount of the envelope are internally calculated according to the width value calculation formula: W-160, and the folding amount calculation formula: S×2-80. The rotation speed and direction of the first drive motor (1), the second drive motor (10) and the third drive motor (17) are converted by the internally controlled width value and folding amount.

10. A driving method for a servo device of a film clamp arm driving system of a fully automatic film covering machine, characterized in that: Based on the servo device of the film clamp arm driving system of the fully automatic film covering machine according to claim 9, the driving method is: S1: Input the actual folding value of the cold stretch film in the folding value S line of the film roll parameter screen on the touch screen. After receiving the folding value, the PLC controller gives the maximum distance of the opening movement of the first film clamp (4) and the second film clamp (14) through logical conversion; S2: The PLC controller synchronously drives the first drive motor (1) and the second drive motor (10), so that the motion states of the first drive motor (1) and the second drive motor (10) are the same; S3: When the first membrane clamp (4) and the second membrane clamp (14) need to be opened, the PLC controller sends a start command and a DC0 to +10V analog value setting to the first frequency converter (7) and the second frequency converter (16); the first frequency converter (7) and the second frequency converter (16) output an operating frequency to drive the first drive motor (1) and the second drive motor (10) to rotate in the forward direction, and the first drive motor (1) and the second drive motor (10) drive the first reducer (2) and the second reducer (11) to rotate, and the first reducer (2) and the second reducer (11) drive the first membrane clamp (4) and the second membrane clamp (14) to open from the middle base position to the two ends; S4: The first encoder (6) and the second encoder (12) encoders rotate along with the shafts of the first drive motor (1) and the second drive motor (10). The first encoder (6) and the second encoder (12) feed back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the first membrane clamp (4) and the second membrane clamp (14) through the first encoder (6) and the second encoder (12). When the first membrane clamp (4) and the second membrane clamp (14) are opened to the maximum distance, the PLC controller sends a stop command to the first frequency converter (7) and the second frequency converter (16). The first frequency converter (7) and the second frequency converter (16) stop running. At this time, the first membrane clamp (4) and the second membrane clamp (14) are opened to the maximum position and no longer move. S5: When the membrane clamp needs to be closed, the PLC controller sends a start command and a DC0 to -10V analog value setting to the first frequency converter (7) and the second frequency converter (16); the first frequency converter (7) and the second frequency converter (16) output an operating frequency to drive the first reducer (2) and the second reducer (11) to rotate in the opposite direction, and the first reducer (2) and the second reducer (11) drive the first reducer (2) and the second reducer (11) to rotate, and the first reducer (2) and the second reducer (11) drive the first membrane clamp (4) and the second membrane clamp (14) to move from both ends to the middle basic position to close; S6: The first encoder (6) and the second encoder (12) encoders rotate along with the shafts of the first drive motor (1) and the second drive motor (10). The first encoder (6) and the second encoder (12) feed back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the first membrane clamp (4) and the second membrane clamp (14) through the first encoder (6) and the second encoder (12). When the first position sensor (3) and the second position sensor (13) detect that the first membrane clamp (4) and the second membrane clamp (14) are closed to the middle basic position, the PLC controller receives the signal transmitted by the first position sensor (3) and the second position sensor (13), and issues a stop command to the first frequency converter (7) and the second frequency converter (16). The first frequency converter (7) and the second frequency converter (16) stop running. At this time, the first membrane clamp (4) and the second membrane clamp (14) are closed and run to the middle basic position and no longer move. S7: Input the actual width value of the cold stretch film in the width value W line of the film roll parameter screen on the touch screen, the PLC controller receives the width value and gives the minimum distance of the film clamp arm (21) opening movement through logical conversion, and the basic position of the maximum opening distance of the film clamp arm (21) is the monitoring position of the third position sensor (20); S8: The power supply is provided to the third frequency converter (23) to input AC380V power. When the membrane clamp arm (21) needs to open, the PLC controller sends a start command and a DC 0 to +10V analog value setting to the third frequency converter (23); the third frequency converter (23) outputs an operating frequency to drive the third drive motor (17) to rotate in the forward direction, the third drive motor (17) drives the third reducer (18) to rotate, and the third reducer (18) drives the membrane clamp arm (21) to open to both ends at the minimum distance; S9: The third encoder (19) rotates along with the shaft of the third drive motor (17), and the third encoder (19) feeds back the motor movement to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm (21) through the third encoder (19). When the third position sensor (20) detects that the membrane clamp arm (21) is opened to the maximum distance, the PLC controller sends a stop command to the third frequency converter (23), and the third frequency converter (23) stops running. At this time, the membrane clamp arm (21) opens and runs to the maximum position and no longer moves. S10: When the membrane clamp arm (21) needs to be closed, the PLC controller sends a start command and a DC 0 to -10V analog value setting to the third frequency converter (23); the third frequency converter (23) outputs an operating frequency to drive the third drive motor (17) to rotate in the opposite direction, the third drive motor (17) drives the third reducer (18) to rotate, and the third reducer (18) drives the membrane clamp arm (21) to move from both ends to the middle minimum position to close; S11: The third encoder (19) installed on the rear shaft of the third drive motor (17) rotates with the shaft, and the third encoder (19) feeds back the motor movement status to the PLC controller. The PLC controller monitors the movement distance of the membrane clamp arm (21) through the third encoder (19). When the membrane clamp arm (21) closes the minimum distance, the PLC controller receives the signal of the third encoder (19) and sends a stop command to the third frequency converter (23). The third frequency converter (23) stops running. At this time, the membrane clamp arm (21) closes and runs to the minimum distance and no longer moves.

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