Multi-station automatic packaging control method and system

Abstract

The invention relates to the technical field of physical analysis, and particularly discloses a multi-station automatic packaging control method and system.The method comprises the steps of bag suction assembly starting judgment, filling operation execution waiting, operation quality estimation judgment, sealing assembly pre-execution effect evaluation and packaging control waiting again; the bag suction assembly firstly obtains starting performance data and verifies the starting performance data with predefined indexes, packaging bags are conveyed to the fixing assembly after optimization according to a result and moved to a first position through the transferring assembly to be filled with materials, the material filling assembly judges that an operation quality estimated value is compared with a permission interval before receiving an instruction, whether material filling is conducted after optimization or not is determined, and the filled packaging bags are to be sealed is determined. And the sealing assembly evaluates a pre-execution effect index before receiving the instruction, optimizes sealing according to needs after verification, releases the packaging bag after sealing, moves the fixing assembly to a second position, and circulates in this way, so that multi-station automatic packaging control is achieved.

Description

Technical Field

[0001] The present invention relates to the field of physical analysis technology, and in particular to a multi-station automatic packaging control method and system. Background Art

[0002] With the continuous advancement of automation technology, its application in various fields is becoming increasingly extensive. In the packaging industry, automation technology not only improves production efficiency, but also reduces labor costs, making the packaging process more intelligent and automated. The multi-station automatic packaging control method is one of the specific applications of automation technology in this field. Traditional packaging methods can no longer meet the needs of large-scale and high-efficiency production, so the multi-station automatic packaging control method came into being.

[0003] For example, the invention patent with announcement number CN116429790B announces an intelligent management and control system for a wooden packaging box production line based on data analysis. The system includes: a light transmission detection component, which is arranged after the pre-fixing process and before the final fixing process of the production line, and includes a light source generating device, an image acquisition device and an analysis terminal; during the detection process of the light transmission detection component: the light source generating device is used to emit light of a preset wavelength to the packaging box; the image acquisition module is used to acquire an image of the detection surface of the packaging box; the analysis terminal is used to perform feature recognition on the image acquired by the image acquisition module, judge the pre-fixing state of the packaging box according to the result of feature recognition, and determine whether the packaging box state is normal according to the judgment result; if normal, adjust the working parameters of the final fixing process; otherwise, rework the packaging box.

[0004] For example, the invention patent with announcement number CN109557109B announces a method and device for detecting the packaging status of frozen meat, which belongs to the technical field of meat product analysis. The method includes: obtaining an image to be detected of packaged frozen meat taken at a preset angle; wherein each preset angle corresponds to an image to be detected; determining an area of ​​interest in the image to be detected, and detecting a damaged packaging area in the image to be detected in the area of ​​interest.

[0005] In combination with the above technical solutions, it is found that there are packaging control detection methods that mostly rely on detecting the packaging status after packaging. However, since the packaging equipment is affected by various factors during operation, the uncertainty of its packaging operation will be greatly increased, which will affect the accuracy of the packaging status and ultimately affect the feasibility of automatic packaging control. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a multi-station automatic packaging control method and system, which can effectively solve the problems involved in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: The first aspect of the present invention provides a multi-station automatic packaging control method, including: suction bag component startup judgment: each suction bag component receives the startup instruction of the automatic packaging control platform, and obtains the startup performance data of each suction bag component before the startup instruction is executed, determines the startup performance status index of each suction bag component, and verifies it with the predefined startup performance status adaptation index, and the automatic packaging control platform determines whether to optimize the performance of each suction bag component; waiting for the filling operation to be executed: each suction bag component executes the startup instruction of the automatic packaging control platform, and automatically transports the corresponding packaging bag to each fixed component after execution, so that the automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position and wait for each filling component to execute the filling operation; operation quality estimation judgment: each filling component receives the filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, judges The estimated running quality of each filling component is compared with the predefined allowed estimated running quality range, and the automatic packaging control platform determines whether to optimize the filling of each filling component, and finally each filling component automatically performs the filling operation; Pre-execution effect evaluation of sealing components: after the filling is completed, the packaging bags belonging to each fixed component wait for the sealing components to perform the sealing operation, and each sealing component receives the sealing instruction sent by the automatic packaging control platform, and evaluates the pre-execution effect index of each sealing component before starting the sealing instruction, and verifies it with the predefined allowed pre-execution effect index range. The automatic packaging control platform determines whether to optimize the sealing of each sealing component, and then each sealing component automatically performs the sealing operation; Waiting for packaging control again: each sealed packaging bag is released by each fixed component, and at the same time, the automatic packaging control platform controls the transfer component to drive each fixed component to move to the second position to wait for the filling operation again, and finally completes the multi-station automatic packaging control.

[0008] As a further method, the startup performance status index of each suction bag assembly is determined, and the specific determination process is as follows: the startup performance data of each suction bag assembly specifically includes the suction value of each suction bag assembly at each startup time point, the response time of each suction bag assembly within the startup cycle, the airflow velocity of each suction bag assembly at each startup time point, the maximum noise value of each suction bag assembly within the startup cycle, and the maximum vibration frequency of each suction bag assembly within the startup cycle; the suction value of each suction bag assembly at each startup time point is subjected to standard deviation processing to obtain the suction dispersion value of each suction bag assembly within the startup cycle; the airflow velocity of each suction bag assembly at each startup time point is subjected to standard deviation processing to obtain the suction dispersion value of each suction bag assembly within the startup cycle. The speed is processed by standard deviation to obtain the airflow velocity dispersion value of each suction bag component during the startup cycle; the suction dispersion limit value, response limit time, airflow velocity dispersion limit value, noise limit value and vibration frequency limit value are extracted from the packaging control management library; the suction dispersion value of each suction bag component during the startup cycle, the airflow velocity dispersion value of each suction bag component during the startup cycle, the response time of each suction bag component during the startup cycle, the maximum noise value of each suction bag component during the startup cycle and the maximum vibration frequency of each suction bag component during the startup cycle are comprehensively analyzed to obtain the startup performance status index of each suction bag component.

[0009] As a further method, each filling component receives a filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, determines the estimated value of the operation quality of each filling component, thereby obtaining the start-up waiting data of each filling component, specifically including the historical material quantity of each filling component during the start-up waiting period, the historical filling speed of each filling component during the start-up waiting period, the vibration frequency of the driving element of each filling component at each start-up waiting time point, and the historical inclination angle value of the nozzle of each filling component; the vibration frequency of the driving element of each filling component at each start-up waiting time point is averaged to obtain The average vibration frequency of the driving element of each filling component during the startup waiting period is obtained; the vibration frequency adaptation average value, the actual filling adaptation speed, the actual material reference amount and the actual tilt reference angle value are extracted from the packaging control management library; the historical material amount of each filling component during the startup waiting period, the historical filling speed of each filling component during the startup waiting period, the average vibration frequency of the driving element of each filling component during the startup waiting period, the startup performance status index of each suction bag component and the historical tilt angle value of the nozzle of each filling component are comprehensively analyzed to obtain the estimated operation quality of each filling component.

[0010] As a further method, the specific analysis method of the pre-execution effect index of each sealing component is as follows:

[0011] In the formula, is the pre-execution effect index of the mth sealing component, m is the number of each sealing component, , M is the total amount of sealing components, is the real-time heating temperature of the mth sealing component at the tth moment of the pre-execution cycle, t is the time variable, , is the start time of the pre-execution cycle, is the end time of the pre-execution cycle, is the actual heating reference temperature average, is the real-time ambient humidity of the area to which the mth sealing component belongs at the tth moment of the pre-execution cycle, is the ambient reference humidity, is the historical sealing duration of the mth sealing component in the pre-execution period, To adapt the actual sealing time, is the historical average sealing pressure of the mth sealing component in the pre-execution period, is the reference mean of the actual sealing pressure, is the estimated running quality of the bth filling component, b is the number of each filling component, , B is the total amount of the filling component, The pre-execution effect weight parameter corresponding to the real-time heating temperature predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the real-time ambient humidity predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the historical sealing time predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the historical sealing pressure mean value predefined in the packaging control management library, It is the pre-execution effect weight parameter corresponding to the estimated mean value of operation quality predefined in the packaging control management library, and e is a natural constant.

[0012] As a further method, the multi-station automatic packaging control is finally completed, and the specific control process is as follows: the fixed components specifically include first fixed components and second fixed components; the automatic packaging control platform controls the transfer component to drive the fixed components to move to the first position to wait for the filling components to perform the filling operation, specifically, the automatic packaging control platform controls the transfer component to drive the first fixed components to move to the first position, waiting for the filling components to perform the filling operation on the packaging bags clamped by the first fixed components; the automatic packaging control platform controls the transfer component to drive the fixed components to move to the second position to wait for the filling operation again, specifically, the automatic packaging control platform controls the transfer component to drive the second fixed components to move to the second position, waiting for the filling components to perform the filling operation on the packaging bags clamped by the second fixed components.

[0013] The second aspect of the present invention provides a multi-station automatic packaging control system, including: a bag suction component startup determination module, which is used for each bag suction component to receive the startup instruction of the automatic packaging control platform, and obtain the startup performance data of each bag suction component before the startup instruction is executed, determine the startup performance status index of each bag suction component, and verify it with the predefined startup performance status adaptation index, and the automatic packaging control platform determines whether to optimize the performance of each bag suction component; a filling operation waiting execution module, which is used for each bag suction component to execute the startup instruction of the automatic packaging control platform, and automatically transport the corresponding packaging bag to each fixed component after execution, so that the automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position to wait for each filling component to perform the filling operation; an operation quality estimation determination module, which is used for each filling component to receive the filling instruction sent by the automatic packaging control platform, and determine the operation quality of each filling component before starting the filling instruction. The estimated value is compared with the predefined operating quality permitted estimated value interval, and the automatic packaging control platform determines whether to optimize the filling of each filling component, and finally each filling component automatically performs the filling operation; the sealing component pre-execution effect evaluation module is used for each packaging bag belonging to each fixed component after the filling is completed to wait for each sealing component to perform the sealing operation, and each sealing component receives the sealing instruction sent by the automatic packaging control platform, and evaluates the pre-execution effect index of each sealing component before starting the sealing instruction, and verifies it with the predefined pre-execution effect permitted index interval. The automatic packaging control platform determines whether to optimize the sealing of each sealing component, so that each sealing component automatically performs the sealing operation; the waiting packaging control module again is used for each packaging bag that has been sealed to be released by each fixed component, and at the same time, the automatic packaging control platform controls the transfer component to drive each fixed component to move to the second position to wait for the filling operation again, and finally completes the multi-station automatic packaging control.

[0014] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0015] (1) The present invention provides a multi-station automatic packaging control method and system. Under the control of the automatic packaging control platform, each bag suction component obtains startup performance data before receiving a startup instruction, verifies it with a predefined index, determines whether to execute the instruction after optimization, transports the packaging bag to the fixed component, and moves it to the first position to be filled by the transfer component. Before receiving an instruction, each filling component determines the estimated value of the running quality and compares it with the permitted range to determine whether to automatically fill the material after optimization. The filled packaging bag is to be sealed. Before receiving an instruction, each sealing component evaluates the pre-execution effect index and verifies whether to execute the sealing operation after optimization. After sealing, the packaging bag is released and the fixed component moves to the second position to wait for the next filling and sealing, thereby realizing multi-station automatic packaging control.

[0016] (2) The present invention obtains the startup performance data of each bag suction component before the execution of the startup instruction and determines the startup performance status index of each bag suction component. It can detect in advance whether the equipment has hidden dangers of failure and can perform maintenance before officially starting production. It also helps to optimize the configuration and parameters of the bag suction component according to actual conditions, avoid bag suction failure, equipment damage, etc. during the production process, and reduce the risk of production interruption.

[0017] (3) The present invention optimizes the performance of the filling components by determining the estimated operating quality of each filling component before starting the filling instruction, thereby improving the efficiency and quality of the filling, and ensuring the timeliness and reliability of the filling operation during the production process. The fast and stable filling components can provide a stable working state for subsequent sealing processes, making the entire production process smoother.

[0018] (4) The present invention can evaluate the pre-execution effect index of each sealing component before starting the sealing instruction, so as to know in advance whether the key parameters of the sealing component, such as temperature, pressure, time, etc., have reached the ideal state. By ensuring the accuracy of these parameters, the quality of the sealing can be significantly improved, so that the sealing is tight and smooth, and the sealing process can be carried out smoothly and efficiently, thereby improving the production efficiency of the entire production line, effectively preventing the leakage of the packaging contents, and ensuring the integrity and safety of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0020] Figure 1 The figure is a schematic flow chart of the method steps of the present invention.

[0021] Figure 2 It is a schematic diagram of system module connection of the present invention. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] Reference Figure 1As shown, the first aspect of the present invention provides a multi-station automatic packaging control method, including: bag suction component startup judgment: each bag suction component receives a startup instruction from an automatic packaging control platform, and obtains startup performance data of each bag suction component before the startup instruction is executed, determines the startup performance status index of each bag suction component, and verifies it with a predefined startup performance status adaptation index, and the automatic packaging control platform determines whether to optimize the performance of each bag suction component.

[0024] The above-mentioned automatic packaging control platform is an intelligent control system used to comprehensively and accurately control and manage the entire automatic packaging production line. It is composed of industrial computers, programmable logic controllers (PLCs), sensors, actuators, and human-machine interfaces. Before production, the operator inputs the production tasks and packaging parameters through the human-machine interface, and the automatic packaging control platform receives these instructions and determines the production plan. According to the preset program, the automatic packaging control platform sends a start instruction to the bag suction component, obtains its start-up performance data and determines the status indicators. After the verification, the bag suction component is controlled to transport the packaging bag to the fixed component. Then, the transfer component is controlled to drive the fixed component to the specified position to wait for filling. In the filling link, the estimated value of the running quality of the filling component is determined, and the filling instruction is sent if it meets the requirements. After the filling is completed, the sealing component is also evaluated and the instruction is sent to complete the sealing operation. After the sealing is completed, the control platform instructs the fixed component to release the packaging bag, and then drives the fixed component back to the initial position to prepare for the next round of packaging tasks, realizing the automatic cycle of the entire packaging process.

[0025] The bag suction assembly specifically includes a suction nozzle, a suction generating device, and a connecting pipe and valve. When the bag suction assembly receives a start signal, the suction generating device starts to work, forming a negative pressure at the suction nozzle. The suction nozzle is close to the surface of the packaging bag, and the packaging bag is adsorbed on the suction nozzle under the action of the internal and external pressure difference. Then, through the cooperation of a robotic arm or other conveying device, the adsorbed packaging bag is moved to a designated position, such as a fixed component, to prepare for subsequent filling and sealing operations.

[0026] Specifically, the determination of the startup performance status index of each suction bag assembly is carried out as follows:

[0027] The startup performance data of each suction bag assembly specifically includes the suction force value of each suction bag assembly at each startup time point, the response time of each suction bag assembly during the startup cycle, the airflow velocity of each suction bag assembly at each startup time point, the maximum noise value of each suction bag assembly during the startup cycle, and the maximum vibration frequency of each suction bag assembly during the startup cycle.

[0028] The above-mentioned start time points are specifically a number of start time points that divide the start cycle into time points, wherein the start cycle is specifically determined as a period of time from when the bag suction component receives the start instruction to when the bag suction component waits to start performing the bag suction operation. The above-mentioned start performance data can be specifically extracted from the start report of each bag suction component.

[0029] The suction force values ​​of each suction bag assembly at each start-up time point are processed with standard deviation to obtain the suction force dispersion value of each suction bag assembly within the start-up cycle.

[0030] The airflow velocity of each suction bag assembly at each start-up time point is processed with a standard deviation to obtain the airflow velocity dispersion value of each suction bag assembly during the start-up cycle.

[0031] The suction discrete degree limit value, response limit time, air flow velocity discrete degree limit value, noise limit value and vibration frequency limit value are extracted from the packaging control management library.

[0032] The suction force discreteness value of each suction bag assembly during the startup cycle, the air flow velocity discreteness value of each suction bag assembly during the startup cycle, the response time of each suction bag assembly during the startup cycle, the maximum noise value of each suction bag assembly during the startup cycle, and the maximum vibration frequency value of each suction bag assembly during the startup cycle are comprehensively analyzed to obtain the startup performance status index of each suction bag assembly. The specific analysis method is as follows:

[0033] In the formula, is the startup performance status index of the ath suction bag assembly, a is the number of each suction belt assembly, , A is the total amount of suction bag components, is the discrete value of the suction force of the ath suction bag assembly during the startup cycle, is the suction discreteness limit value, is the response time of the ath suction bag component during the startup cycle, Define the duration for the response, is the maximum noise value of the a-th suction bag assembly during the startup cycle, is the noise threshold, is the maximum vibration frequency of the ath suction bag assembly during the startup cycle, is the limit value of vibration frequency, is the discrete degree value of the airflow velocity of the ath suction bag assembly during the startup cycle, is the limit value of air flow velocity dispersion, It is the performance status weight factor corresponding to the discrete degree value of suction force predefined in the packaging control management library. It is the performance status weight factor corresponding to the response time predefined in the packaging control management library. is the performance status weight factor corresponding to the maximum noise value predefined in the packaging control management library, It is the performance status weight factor corresponding to the maximum vibration frequency predefined in the packaging control management library. It is the performance state weight factor corresponding to the discrete degree value of air flow velocity predefined in the packaging control management library, and e is a natural constant.

[0034] The startup performance status index of each bag suction component in this embodiment is used to measure whether the bag suction component can start quickly, stably and effectively and can achieve the task of waiting to execute the suction of packaging bags in a timely, reliable and stable suction manner. The larger the startup performance status index, the better the status of the bag suction component, and can provide better equipment support for the subsequent execution of bag suction operations.

[0035] It should be explained that the above-mentioned suction dispersion value refers to the dispersion or difference of the suction of each bag suction component during the startup cycle, reflecting the stability of the suction; the suction dispersion limit value refers to the maximum value corresponding to the predefined suction dispersion value; the response time refers to the time interval from the moment the bag suction component receives the startup signal to the time when the bag suction component generates suction sufficient to suck the packaging bag; the response limit time refers to the maximum value corresponding to the predefined response time; the maximum noise value refers to the maximum decibel value of the noise actually generated in the process from the start of the bag suction component to the completion of the startup and entering the stable waiting state; the noise limit value refers to the maximum value corresponding to the predefined noise; the maximum vibration frequency value refers to the maximum frequency value of the vibration actually generated in the process from the start of the bag suction component to the completion of the startup and entering the stable waiting state; the vibration frequency limit value refers to the maximum value corresponding to the predefined vibration frequency; the airflow velocity dispersion value refers to the dispersion or difference of the airflow velocity of each bag suction component during the startup cycle, reflecting the stability of the airflow velocity; the airflow velocity dispersion limit value refers to the maximum value corresponding to the predefined airflow velocity dispersion value.

[0036] The performance state weight factor corresponding to the suction discrete degree value, the performance state weight factor corresponding to the response time, the performance state weight factor corresponding to the maximum noise value, the performance state weight factor corresponding to the maximum vibration frequency value and the performance state weight factor corresponding to the airflow velocity discrete degree value are all extracted from the packaging control management library, and the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. For example, the suction discrete degree value and the performance state weight factor corresponding to the suction discrete degree value preset in the packaging control management library form a mapping set, and the real-time suction discrete degree value is substituted into the mapping set to obtain the performance state weight factor corresponding to the suction discrete degree value; the response time and the performance state weight factor corresponding to the response time preset in the packaging control management library form a mapping set, and the real-time response time is substituted into the mapping set to obtain the performance state weight factor corresponding to the response time; the maximum noise value and the performance state weight factor corresponding to the maximum noise value preset in the packaging control management library The sub-formation forms a mapping set, the real-time maximum noise value is brought into the mapping set to obtain the performance state weight factor corresponding to the maximum noise value; the maximum vibration frequency value and the performance state weight factor corresponding to the maximum vibration frequency value preset in the packaging control management library form a mapping set, the real-time maximum vibration frequency value is brought into the mapping set to obtain the performance state weight factor corresponding to the maximum vibration frequency; the airflow velocity discrete degree value and the performance state weight factor corresponding to the airflow velocity discrete degree value preset in the packaging control management library form a mapping set, the real-time airflow velocity discrete degree value is brought into the mapping set to obtain the performance state weight factor corresponding to the airflow velocity discrete degree value. In this embodiment, the performance state weight factor corresponding to the suction discrete degree value, the performance state weight factor corresponding to the response time, the performance state weight factor corresponding to the maximum noise value, the performance state weight factor corresponding to the maximum vibration frequency, and the performance state weight factor corresponding to the airflow velocity discrete degree value are all in the range of (0, 1).

[0037] In this embodiment, if the suction force discreteness is large, it may mean that there are some unstable factors when the suction bag assembly is started, and the unstable suction force will cause the suction bag assembly to take a longer time to reach a stable starting state, thereby increasing the response time and greatly reducing the starting performance status index of the suction bag assembly; the unstable suction force may also cause vibration of the internal components of the suction bag assembly or irregular changes in the airflow, thereby causing the generation and change of noise, and a higher suction force discreteness may lead to a larger maximum noise value, which also reduces the starting performance status index of the suction bag assembly; and a larger maximum vibration frequency will also lead to a more obvious maximum noise value. The noise mainly comes from the vacuum negative pressure generated by the motor-driven vortex fan and the change of airflow, which are related to vibration. A large discreteness of the airflow velocity may lead to increased instability and turbulence of the airflow, thereby generating more noise. At the same time, the unstable airflow velocity may cause the vibration frequency of the internal components of the suction bag assembly to change, thereby bringing a greater negative impact on the starting performance of the suction bag assembly.

[0038] Furthermore, the automatic packaging control platform determines whether to optimize the performance of each bag suction component by performing a startup performance check on the startup performance status index of each bag suction component and a predefined startup performance status adaptation index to obtain a startup performance check result, so that the automatic packaging control platform can determine whether to optimize the performance of each bag suction component.

[0039] The startup performance verification result is the first startup performance verification result or the second startup performance verification result.

[0040] The first startup performance verification result is specifically that the startup performance status indicators of each suction bag assembly are greater than or equal to the startup performance status adaptation indicators predefined in the packaging control management library.

[0041] The second startup performance verification result is specifically that the startup performance status index of a certain suction bag component is less than the startup performance status adaptation index.

[0042] If the startup performance verification result shows the first startup performance verification result, the automatic packaging control platform determines that there is no need to optimize the performance of each bag suction component and executes the bag suction operation. If the startup performance verification result shows the second startup performance verification result, the automatic packaging control platform determines that the performance of the bag suction component needs to be optimized.

[0043] The above-mentioned performance optimization of the bag suction assembly specifically optimizes the mechanical structure of the bag suction assembly and reduces the mass and friction of moving parts, such as using lightweight and smooth guide rails and sliders to make the bag suction port faster and more stable during movement, thereby speeding up the overall response speed; installing a voltage-stabilizing power supply and a current-stabilizing device to ensure the stability of the suction force of the bag suction assembly during operation, avoiding fluctuations in suction force due to voltage fluctuations or unstable current, which affects the suction effect of the packaging bag; and performing regular maintenance and cleaning of the bag suction assembly to prevent the accumulation of dust, debris, etc. from affecting its performance.

[0044] The filling operation is waiting for execution: each bag suction component executes the start-up instruction of the automatic packaging control platform, and automatically transports the corresponding packaging bag to each fixed component after execution. The automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position and waits for each filling component to perform the filling operation.

[0045] The above-mentioned transfer component is mainly responsible for transferring materials, packaging bags or packaging bags containing materials between different workstations, equipment or locations. Its core function is to ensure the continuity of the packaging process so that each process can proceed smoothly in a predetermined order and rhythm. When the transfer component is working, it first detects the position and state of the object to be transferred through the sensor. Then, the controller issues instructions based on this information to drive the mechanical transmission part and the robot arm to move. For example, when the bag suction component sucks the packaging bag and places it at the starting position of the transfer component, the sensor will detect the presence of the packaging bag, and the controller will immediately start the conveyor belt to transport the packaging bag in the direction of the fixed component. When approaching the target position, the sensor detects again, and by precisely controlling the movement of the robot arm and the clamp, the packaging bag is accurately placed on the fixed component.

[0046] The main function of the above-mentioned fixing components is to provide stable support and fixed position for the packaging bag at different stages of the packaging process, ensuring that subsequent operations such as filling and sealing can be carried out accurately and efficiently. It is like a "workbench" on which the packaging bag can remain still and in the correct posture to receive various processing. When the transfer component transports the packaging bag to the fixing component, the positioning device of the fixing component first preliminarily positions the packaging bag to determine its approximate position on the plane. Then, the fixing fixture starts working to firmly fix the packaging bag in the set position. During the entire packaging process, the fixing component communicates and works in coordination with other components through its interface. For example, when the filling component is ready to fill, the fixing component will transmit the opening position information of the packaging bag to the filling component, and keep the packaging bag stable during the filling process to prevent the packaging bag from shifting or deforming due to external forces.

[0047] Operation quality estimation and judgment: Each filling component receives the filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, it determines the operation quality estimation value of each filling component and compares it with the predefined operation quality allowable estimation value range. The automatic packaging control platform determines whether to optimize the filling of each filling component, and finally each filling component automatically performs the filling operation.

[0048] The main function of the above-mentioned filling component is to convey materials of various forms (such as solid, liquid, powder, etc.) into the packaging bag according to the preset amount and speed, ensure the accurate and uniform amount of materials in each packaging bag, and minimize the splashing and leakage of materials during the filling process to ensure the cleanliness of the packaging environment and the stability of product quality. At the beginning of filling, the controller starts the material conveying mechanism according to the preset filling amount and speed instructions, and conveys the materials in the storage device into the packaging bag through the nozzle. During the filling process, the metering and control system monitors the flow rate of the material or the weight in the packaging bag in real time through the sensor, and feeds the monitoring data back to the controller. When the preset filling amount is reached, the controller stops the work of the material conveying mechanism and completes the filling operation. For example, when a weight sensor is used for control, the weight of the empty packaging bag is reset to zero before filling. As the material is poured in, the weight sensor continuously detects the weight change. When the weight reaches the set filling weight plus the empty bag weight, the controller will send a stop signal.

[0049] Specifically, each filling component receives a filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, determines the estimated operating quality of each filling component, thereby obtaining the start-up waiting data of each filling component, specifically including the historical material quantity of each filling component during the start-up waiting period, the historical filling speed of each filling component during the start-up waiting period, the vibration frequency of the driving element of each filling component at each start-up waiting time point, and the historical inclination angle value of the nozzle of each filling component.

[0050] The startup waiting time points are specifically a number of startup waiting time points divided into time points of the startup waiting period, and the startup waiting period is specifically determined as a period of time from when the filling component receives the startup instruction to when it enters the filling operation waiting state. The startup waiting data can be specifically extracted from the startup report of the filling component.

[0051] The vibration frequencies of the driving elements of each filling component at each start-up waiting time point are averaged to obtain the average vibration frequencies of the driving elements of each filling component within the start-up waiting period.

[0052] The vibration frequency adaptation mean value, the actual filling adaptation speed, the actual material reference amount and the actual tilt reference angle value are extracted from the packaging control management library.

[0053] It should be explained that the data stored in the packaging control management library in this embodiment is specifically to obtain the basic properties of the material before the packaging process begins, to clarify the type of food, such as biscuits, candies or beverages, etc., and their respective packaging specifications, such as net content, packaging size, etc.; to understand the physical and chemical properties of the material, for example, the fluidity data of powdered materials is crucial for the design and parameter adjustment of the filling component; to obtain information related to the packaging of the material, for example, for perishable materials, it may be necessary to select packaging materials with good barrier properties; to analyze the acquired material data to determine the actual parameters of the material, for example, through the test data of the material fluidity, the flow characteristics under different temperature and humidity conditions are analyzed to provide a basis for the setting of the operating parameters of the filling component; after obtaining the material data and analyzing the actual parameters, these data are stored in the packaging control management library, and these data include the basic information of the material, characteristic data, packaging-related data and the actual parameters of the corresponding material.

[0054] The historical material quantity of each filling component during the startup waiting period, the historical filling speed of each filling component during the startup waiting period, the average vibration frequency of the driving element of each filling component during the startup waiting period, the startup performance status index of each suction bag component and the historical tilt angle value of the nozzle of each filling component are comprehensively analyzed to obtain the estimated operation quality of each filling component. The specific analysis method is as follows:

[0055] In the formula, is the estimated running quality of the bth filling component, b is the number of each filling component, , B is the total amount of the filling component, is the historical material quantity of the bth filling component during the startup waiting period, is the actual material reference quantity, is the historical filling speed of the bth filling component during the startup waiting period, To adapt the speed to the actual filling, is the average vibration frequency of the driving element of the b-th filling component during the startup waiting period, is the vibration frequency adaptation mean, is the historical tilt angle value of the nozzle of the b-th filling component, is the actual tilt reference angle value, is the startup performance status index of the ath suction bag assembly, a is the number of each suction belt assembly, , A is the total amount of suction bag components, The quality estimation weight parameters corresponding to the historical material quantities predefined in the packaging control management library, The quality estimation weight parameter corresponding to the historical filling speed predefined in the packaging control management library, The mass estimation weight parameter corresponding to the mean value of vibration frequency predefined in the packaging control management library, The quality estimation weight parameter corresponding to the historical tilt angle value predefined in the packaging control management library, It is the quality estimation weight parameter corresponding to the mean value of the startup performance status index predefined in the packaging control management library, and e is a natural constant.

[0056] The startup performance status index of each suction bag assembly mentioned above is obtained by comprehensively analyzing the discrete degree value of suction force of each suction bag assembly during the startup cycle, the discrete degree value of airflow velocity of each suction bag assembly during the startup cycle, the response time of each suction bag assembly during the startup cycle, the maximum noise value of each suction bag assembly during the startup cycle, and the maximum vibration frequency value of each suction bag assembly during the startup cycle.

[0057] The estimated operating quality of each filling component in this embodiment is used to quantify whether the filling component can accurately, stably and efficiently complete the filling operation in the upcoming filling operation. The higher the estimated operating quality value, the more stable the preparation state of the filling component and the better the performance.

[0058] It needs to be explained that the above-mentioned historical material quantity refers to the current material quantity automatically set by the filling component according to the last material quantity during the startup waiting period; the actual material reference quantity refers to the actual adaptation quantity corresponding to the pre-set material; the historical filling speed refers to the current filling speed automatically set by the filling component according to the last filling speed during the startup waiting period; the actual filling adaptation speed refers to the actual speed adaptation value corresponding to the pre-set filling; the mean vibration frequency refers to the average value of the vibration frequency of the driving element (such as motor, screw drive device, etc.) during the startup waiting period; the vibration frequency adaptation mean refers to the reference mean corresponding to the pre-set vibration frequency; the historical inclination angle value refers to the current nozzle inclination angle value automatically set by the filling component according to the last nozzle inclination angle value during the startup waiting period; the actual inclination reference angle value refers to the actual inclination angle adaptation value corresponding to the pre-set nozzle.

[0059] Among them, the quality estimation weight parameters corresponding to the historical material quantity, the quality estimation weight parameters corresponding to the historical filling speed, the quality estimation weight parameters corresponding to the mean vibration frequency, and the quality estimation weight parameters corresponding to the historical tilt angle values ​​are all extracted from the packaging control management library, and the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. For example, the historical material quantity and the quality estimation weight parameters corresponding to the historical material quantity preset in the packaging control management library form a mapping set, and the historical material quantity is brought into the mapping set to obtain the quality estimation weight parameters corresponding to the historical material quantity; the historical filling speed and the quality estimation weight parameters corresponding to the historical filling speed preset in the packaging control management library form a mapping set, and the historical filling speed is brought into the mapping set to obtain the quality estimation weight parameters corresponding to the historical filling speed. The quality estimation weight parameter of the material quantity, the quality estimation weight parameter of the filling speed, the quality estimation weight parameter of the vibration frequency mean and the quality estimation weight parameter corresponding to the vibration frequency mean preset in the packaging control management library form a mapping set, and the vibration frequency mean is substituted into the mapping set to obtain the quality estimation weight parameter corresponding to the vibration frequency mean; the historical tilt angle value and the quality estimation weight parameter corresponding to the historical tilt angle value preset in the packaging control management library form a mapping set, and the historical tilt angle value is substituted into the mapping set to obtain the quality estimation weight parameter corresponding to the historical tilt angle value. In this embodiment, the quality estimation weight parameter corresponding to the historical material quantity, the quality estimation weight parameter corresponding to the historical filling speed, the quality estimation weight parameter corresponding to the vibration frequency mean and the quality estimation weight parameter corresponding to the historical tilt angle value all have a value range of (0, 1).

[0060] The quality estimation weight parameter corresponding to the mean value of the startup performance status indicator is extracted from the packaging control management library. In the packaging control management library, there is a specific mapping relationship between the mean value of the startup performance status indicator and the quality estimation weight parameter. This mapping relationship can be in a one-to-one or many-to-one form. For example, by substituting the mean value of the startup performance status indicator detected in real time into the mapping set, the corresponding quality estimation weight parameter can be obtained. In this process, the mean value of the startup performance status indicator is used as input, and the quality estimation weight parameter is used as output. The connection between the two is established through the mapping set. In this embodiment, the value range of the quality estimation weight parameter corresponding to the mean value of the startup performance status indicator is (0, 1).

[0061] In this embodiment, when the historical material amount is much lower than the actual material reference amount, insufficient material supply may occur at the initial stage of filling, making it difficult for the actual filling speed to reach the actual filling adaptation speed, and also making the historical filling speed deviate from the actual filling adaptation speed, and even causing filling interruption, which greatly reduces the estimated value of the running quality of the filling component. If the historical material amount is too high, the smooth conveying of the material may be affected due to reasons such as material accumulation, and the filling speed may also be interfered with, and the difference between the historical filling speed and the actual filling adaptation speed may also be increased, thereby reducing the estimated value of the running quality of the filling component. If the mean value of the vibration frequency deviates from the adaptation mean value, it may mean that the driving element is faulty or unbalanced, which may affect the material conveying stability, for example, it may cause the material to jump, flow unevenly, etc. during the conveying process, thereby bringing a greater negative impact on the filling speed and the filling amount. At the same time, such unstable material conveying may also produce uneven force on the nozzle, thereby changing the actual inclination angle of the nozzle, increasing the difference between the historical nozzle inclination angle value and the actual inclination reference angle value, and reducing the estimated value of the running quality of the filling component.

[0062] What needs to be explained in this embodiment is that each bag suction assembly corresponds to each filling assembly one by one and is directly opposite to each other. The larger the startup performance status index of each bag suction assembly, the faster and more stably the bag suction assembly can start and successfully suck up the packaging bag, so that the packaging bag to be filled can be provided to the filling assembly in time, reducing the idle waiting time of the filling assembly, so that the filling operation can be carried out more closely and continuously; stable bag suction operation can ensure that the position of the packaging bag on the fixed assembly is relatively fixed, providing a good foundation for the precise filling of the filling assembly. If the suction force of the bag suction assembly is unstable, it may cause the packaging bag to move during the filling process, affecting the relative position of the nozzle and the packaging bag opening, thereby reducing the filling accuracy and the estimated value of the operation quality of the filling assembly.

[0063] Furthermore, the automatic packaging control platform determines whether to optimize the filling of each filling component. Specifically, the operating quality estimate of each filling component is compared with the predefined operating quality allowable estimate value interval to obtain the quality estimate comparison result. The automatic packaging control platform determines whether to optimize the filling of each filling component.

[0064] The quality estimation comparison result is a first quality estimation comparison result or a second quality estimation comparison result.

[0065] The first quality estimation comparison result is specifically that the operation quality estimation values ​​of each filling component belong to the operation quality allowable estimation value range predefined in the packaging control management library.

[0066] The second quality estimation comparison result is specifically that the operation quality estimation value of a certain filling component does not belong to the permissible operation quality estimation value range.

[0067] If the quality estimation comparison result shows the first quality estimation comparison result, the automatic packaging control platform determines that there is no need to optimize the filling of each filling component and performs the filling operation on the packaging bag. If the quality estimation comparison result shows the second quality estimation comparison result, the automatic packaging control platform determines that the filling component needs to be optimized.

[0068] The above-mentioned filling optimization of the filling component is specifically to add a stirring device in the storage box, and start stirring at a fixed time or on demand to prevent material caking and blocking the discharge port, thereby ensuring that the material can be smoothly transported to the nozzle; the filling process is controlled in sections, and when approaching the target filling volume, the material conveying speed is reduced to achieve more precise filling adjustments; a high-precision weight sensor or volume metering device is used to monitor the filling volume in real time, and according to the sensor feedback data, the working parameters of the first drive element, such as the motor speed or the screw advancement speed, are accurately adjusted to ensure that each filling volume can accurately meet the preset value; the material residue of the filling component is cleaned regularly to prevent cross contamination and blockage.

[0069] Evaluation of pre-execution effect of sealing components: After filling is completed, each packaging bag belonging to each fixed component waits for each sealing component to perform the sealing operation. Each sealing component receives the sealing instruction sent by the automatic packaging control platform and evaluates the pre-execution effect index of each sealing component before starting the sealing instruction. It is verified with the predefined pre-execution effect allowable index range. The automatic packaging control platform determines whether to optimize the sealing of each sealing component, so that each sealing component automatically performs the sealing operation.

[0070] The core function of the above-mentioned sealing component is to tightly close the opening of the packaging bag through specific technical means, such as heat sealing, pressure sealing, bonding, etc., to ensure that the materials in the package are not affected by the external environment, such as moisture-proof, anti-oxidation, and anti-leakage, so as to ensure the quality and shelf life of the product, and also improve the appearance of the product and the overall packaging effect. When the filled packaging bag is transported to the sealing component position, the control system first detects whether the position of the packaging bag is correct. After confirming that the position is correct, the heating device begins to heat up to the set heat sealing temperature. The pressure applying mechanism is started to press the heated sealing mold against the opening of the packaging bag, so that the packaging material melts and fuses together under the combined action of high temperature and pressure. After a certain heat sealing time, the heating device stops heating, and the cooling device starts working to cool the heat sealing part, so that the molten material solidifies and forms a firm seal. After the sealing is completed, the pressure applying mechanism is released, the packaging bag is released, and the entire sealing process is completed.

[0071] Specifically, the pre-execution effect index of each sealing component is evaluated, and the specific evaluation process is as follows:

[0072] Obtain the pre-execution data of each sealing component, specifically including the real-time heating temperature of each sealing component during the pre-execution period, the historical sealing time of each sealing component during the pre-execution period, the historical sealing pressure average of each sealing component during the pre-execution period, and the real-time ambient humidity of the area to which each sealing component belongs during the pre-execution period.

[0073] The above-mentioned pre-execution period is specifically a period of time for estimating the execution effect of the sealing component before the actual sealing operation is performed. The determination of the pre-execution period is obtained by the packaging control management personnel based on a comprehensive analysis of factors such as the status of the sealing component, the filling status, and the actual sealing requirements. The above-mentioned pre-execution data can be specifically extracted from the pre-execution report of the sealing component.

[0074] The startup performance status index of each suction bag component is matched with the actual sealing pressure reference value corresponding to each startup performance status index interval predefined in the packaging control management library. The specific matching process is: extract the mapping set between the startup performance status index of each suction bag component and the actual sealing pressure reference value from the packaging control management library, determine the interval to which the startup performance status index of each suction bag component belongs, and obtain the actual sealing pressure reference value corresponding to the interval, thereby matching the actual sealing pressure reference values, and performing average processing to obtain the actual sealing pressure reference average.

[0075] The discrete degree value of the airflow velocity of each suction bag assembly during the startup cycle is matched with the actual heating reference temperature corresponding to each airflow velocity discrete degree value interval predefined in the packaging control management library. The specific matching process is: extracting the mapping set between the discrete degree value of the airflow velocity of each suction bag assembly during the startup cycle and the actual heating reference temperature from the packaging control management library, determining the interval to which the discrete degree value of the airflow velocity of each suction bag assembly during the startup cycle belongs, and obtaining the actual heating reference temperature corresponding to the interval, thereby matching the actual heating reference temperatures, and performing average processing to obtain the average of the actual heating reference temperatures.

[0076] The actual sealing adaptation time and the environmental reference humidity are extracted from the packaging control management library.

[0077] The real-time heating temperature of each sealing component during the pre-execution cycle, the historical sealing time of each sealing component during the pre-execution cycle, the historical sealing pressure average of each sealing component during the pre-execution cycle, the real-time ambient humidity of the area to which each sealing component belongs during the pre-execution cycle, and the estimated operating quality of each filling component are comprehensively analyzed to obtain the pre-execution effect index of each sealing component.

[0078] Furthermore, the specific analysis method of the pre-execution effect index of each sealing component is as follows:

[0079] In the formula, is the pre-execution effect index of the mth sealing component, m is the number of each sealing component, , M is the total amount of sealing components, is the real-time heating temperature of the mth sealing component at the tth moment of the pre-execution cycle, t is the time variable, , is the start time of the pre-execution cycle, is the end time of the pre-execution cycle, is the actual heating reference temperature average, is the real-time ambient humidity of the area to which the mth sealing component belongs at the tth moment of the pre-execution cycle, is the ambient reference humidity, is the historical sealing duration of the mth sealing component in the pre-execution period, To adapt the actual sealing time, is the historical average sealing pressure of the mth sealing component in the pre-execution period, is the reference mean of the actual sealing pressure, is the estimated running quality of the bth filling component, b is the number of each filling component, , B is the total amount of the filling component, The pre-execution effect weight parameter corresponding to the real-time heating temperature predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the real-time ambient humidity predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the historical sealing time predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the historical sealing pressure mean value predefined in the packaging control management library, It is the pre-execution effect weight parameter corresponding to the estimated mean value of operation quality predefined in the packaging control management library, and e is a natural constant.

[0080] The estimated operating quality of each filling component mentioned above is obtained by comprehensively analyzing the historical material quantity of each filling component during the startup waiting period, the historical filling speed of each filling component during the startup waiting period, the average vibration frequency of the driving element of each filling component during the startup waiting period, the startup performance status index of each suction bag component and the historical inclination angle value of the nozzle of each filling component.

[0081] The pre-execution effect index of the sealing component in this embodiment is a comprehensive indicator used to measure the effectiveness of the preparatory work of the sealing component before the formal sealing operation and the potential sealing quality. It reflects whether the temperature preheating of the sealing component reaches the optimal state, whether the pressure pre-adjustment is accurate, whether the sealing time preset is reasonable, and whether the equipment self-inspection is comprehensive and free of hidden faults.

[0082] It needs to be explained that the above-mentioned real-time heating temperature refers to the temperature value actually reached by the heating element of the sealing component (such as heating wire, heating plate, etc.) during the pre-execution cycle; the actual heating reference temperature average refers to the pre-defined adaptation temperature average corresponding to the actual heating; the real-time ambient humidity refers to the humidity value actually reached by the area to which the sealing component belongs during the pre-execution cycle; the ambient reference humidity refers to the adaptation value corresponding to the pre-defined ambient humidity; the historical sealing duration refers to the sealing duration automatically set by the sealing component according to the last sealing duration during the pre-execution cycle; the actual sealing adaptation time refers to the pre-defined reference time corresponding to the actual sealing; the historical sealing pressure average refers to the sealing pressure average automatically set by the sealing component according to the last sealing pressure average during the pre-execution cycle; the actual sealing pressure reference average refers to the pre-defined adaptation pressure average corresponding to the actual sealing.

[0083] The pre-execution effect weight parameter corresponding to the real-time heating temperature, the pre-execution effect weight parameter corresponding to the real-time ambient humidity, the pre-execution effect weight parameter corresponding to the historical sealing time, and the pre-execution effect weight parameter corresponding to the historical sealing pressure average are all extracted from the packaging control management library, and the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. For example, the real-time heating temperature and the pre-execution effect weight parameter corresponding to the real-time heating temperature preset in the packaging control management library form a mapping set, and the real-time heating temperature is brought into the mapping set to obtain the pre-execution effect weight parameter corresponding to the real-time heating temperature; the real-time ambient humidity and the pre-execution effect weight parameter corresponding to the real-time ambient humidity preset in the packaging control management library form a mapping set, and the real-time ambient humidity is brought into the mapping set to obtain the pre-execution effect weight parameter corresponding to the real-time ambient humidity. Pre-execution effect weight parameter; the historical sealing time and the pre-execution effect weight parameter corresponding to the historical sealing time preset in the packaging control management library form a mapping set, and the historical sealing time is substituted into the mapping set to obtain the pre-execution effect weight parameter corresponding to the historical sealing time; the historical sealing pressure mean and the pre-execution effect weight parameter corresponding to the historical sealing pressure mean preset in the packaging control management library form a mapping set, and the historical sealing pressure mean is substituted into the mapping set to obtain the pre-execution effect weight parameter corresponding to the historical sealing pressure mean. In this embodiment, the value range of the pre-execution effect weight parameter corresponding to the real-time heating temperature, the pre-execution effect weight parameter corresponding to the real-time ambient humidity, the pre-execution effect weight parameter corresponding to the historical sealing time, and the pre-execution effect weight parameter corresponding to the historical sealing pressure mean are all (0, 1).

[0084] The pre-execution effect weight parameter corresponding to the operation quality estimation mean is extracted from the packaging control management library. In the packaging control management library, there is a specific mapping relationship between the operation quality estimation mean and the pre-execution effect weight parameter. This mapping relationship can be in a one-to-one or many-to-one form. For example, by substituting the real-time detected operation quality estimation mean into the mapping set, the corresponding pre-execution effect weight parameter can be obtained. In this process, the operation quality estimation mean is used as input and the pre-execution effect weight parameter is used as output. The connection between the two is established through the mapping set. In this embodiment, the value range of the pre-execution effect weight parameter corresponding to the operation quality estimation mean is (0, 1).

[0085] In this embodiment, if the historical heating temperature is lower than the actual heating reference temperature average, the material may not be softened enough in the actual sealing operation. In order to achieve a good sealing effect, the sealing component may automatically extend the historical sealing time, resulting in an increase in the difference between the historical sealing time and the actual sealing adaptation time. At the same time, the sealing component may also increase the sealing pressure, resulting in a change in the difference between the historical sealing pressure average and the actual sealing pressure reference average, thereby greatly reducing the pre-execution effect of the sealing component. On the contrary, if the real-time heating temperature is higher than the actual heating reference temperature average, the material may be over-softened or even damaged. At this time, the sealing component may need to shorten the sealing time to avoid Sealing quality problems, and excessively high temperatures may affect the control of sealing pressure, because the material state changes, the pressure tolerance and requirements are also different, these will have a negative impact on the pre-execution effect of the sealing component; high humidity environment may affect the sealing pressure and sealing time. In order to ensure the tightness of the seal, it may be necessary to appropriately increase the sealing pressure, change the difference between the historical sealing pressure average and the actual sealing pressure reference average, or extend the sealing time, change the difference between the historical sealing time and the actual sealing adaptation time, because under high humidity conditions, the viscosity and fusion properties of the material may decrease, resulting in the pre-execution effect of the sealing component may not reach the ideal state.

[0086] In this embodiment, when the estimated value of the operation quality of each filling component is larger, it means that the material transportation during the filling process is more accurate and stable, which can ensure that the amount of material in each packaging bag can accurately reach the expected amount, so that the packaging bag has a more regular shape and a uniform fullness when entering the sealing stage, which is conducive to better preheating and pressure adjustment of the sealing component and other pre-execution operations, and facilitates the sealing component to uniformly apply pressure and control the temperature of the packaging bag, thereby improving the pre-execution effect index; a higher estimated value of the operation quality of the filling component indicates that the filling operation can be completed efficiently and orderly, which helps to make the rhythm of the entire packaging production line more stable, the connection between the filling component and the sealing component smoother, and reduce hasty responses caused by delays in the previous process or quality problems, thereby improving the pre-execution effect index.

[0087] Specifically, the automatic packaging control platform determines whether to perform sealing optimization on each sealing component by performing a pre-execution effect verification on the pre-execution effect index of each sealing component and a predefined pre-execution effect permission index interval to obtain a pre-execution effect verification result, based on which the automatic packaging control platform determines whether to perform sealing optimization on each sealing component.

[0088] The pre-execution effect verification result is the first pre-execution effect verification result or the second pre-execution effect verification result.

[0089] The first pre-execution effect verification result is specifically that the pre-execution effect index of each sealing component belongs to the pre-execution effect allowable index range predefined in the packaging control management library.

[0090] The second pre-execution effect verification result is specifically that the pre-execution effect index of a certain sealing component does not belong to the pre-execution effect allowed index range.

[0091] If the pre-execution effect verification result shows the first pre-execution effect verification result, the automatic packaging control platform determines that there is no need to perform sealing optimization on each sealing component, and performs the sealing operation on the packaging bag after filling. If the pre-execution effect verification result shows the second pre-execution effect verification result, the automatic packaging control platform determines that it is necessary to perform sealing optimization on the sealing component.

[0092] The sealing optimization of the sealing component is specifically carried out by using a PID controller, so that the sealing component can monitor and adjust the sealing temperature more accurately, and realize dynamic adjustment of the sealing temperature according to the characteristics and thickness of different packaging materials, so as to ensure that the best sealing effect can be achieved under various conditions; a new type of ceramic heating plate or infrared heating tube is used, which can reach the set temperature faster and the temperature distribution is more uniform compared with the traditional heating method, thereby reducing the sealing quality problems caused by uneven temperature; a high-precision pressure sensor and an electronic pressure regulating valve are installed to monitor and accurately adjust the sealing pressure in real time, so that the sealing pressure is always kept within the optimal range, ensuring the tightness and consistency of the seal; a microprocessor time control module is used to accurately control the sealing time, and the sealing component can flexibly set the sealing time according to different packaging materials and sealing requirements.

[0093] Waiting for packaging control again: the sealed packaging bags are released by the fixed components. At the same time, the automatic packaging control platform controls the transfer component to drive the fixed components to move to the second position to wait for the filling operation again, and finally completes the multi-station automatic packaging control.

[0094] Furthermore, the multi-station automatic packaging control is finally completed, and the specific control process is as follows:

[0095] The fixing components specifically include first fixing components and second fixing components.

[0096] It should be explained that each first fixing component and each second fixing component are specifically divided according to different functions in the packaging process. The first fixing component focuses on coordinating with the bag suction component to provide stable support for the initial positioning of the packaging bag, ensuring accurate and efficient bag suction operation. The second fixing component is closely related to the filling and sealing process, and has a stronger bearing capacity. It can firmly support the packaging bag already filled with materials, so that it will not shift due to impact during filling, and remain flat during sealing, meeting the requirements of the sealing process for the position accuracy of the packaging bag.

[0097] When the material enters the packaging link, the first step is to suck the bag. At this time, the first fixed component plays a role and starts the front-end process of the packaging process. As the demand for material filling comes, the process enters the filling stage. The second fixed component takes over and receives the semi-finished product with packaging bags transferred from the first fixed component to ensure smooth filling. After the filling is completed, the second fixed component continues to carry the packaging bag until the sealing operation is perfectly completed, realizing accurate adaptation to different stages of the entire packaging process.

[0098] This clear division of labor makes the connection between bag suction, filling, sealing and other processes as smooth as silk. After the first fixing component quickly and accurately locates the packaging bag, it can quickly pass it to the second fixing component, avoiding stagnation and confusion in the middle link, greatly improving the overall efficiency of packaging and reducing the production cycle.

[0099] The automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position and wait for each filling component to automatically perform the filling operation. Specifically, the automatic packaging control platform controls the transfer component to drive each first fixed component to move to the first position and wait for each filling component to perform the filling operation on each packaging bag clamped by each first fixed component.

[0100] At this time, each first fixing component corresponds to each filling component one by one and cooperates with each other, and each filling component fills the material into the packaging bag clamped by each first fixing component.

[0101] The automatic packaging control platform controls the transfer component to drive each fixed component to move to the second position to perform the filling operation again. Specifically, the automatic packaging control platform controls the transfer component to drive each second fixed component to move to the second position to wait for each filling component to perform the filling operation on each packaging bag clamped by each second fixed component.

[0102] At this time, each second fixing component and each filling component corresponds one by one and cooperates with each other. Each filling component pours the material into the packaging bag clamped by each second fixing component, and each sealing component seals the packaging bag clamped by each first fixing component. Each first fixing component and each sealing component corresponds one by one and cooperates with each other.

[0103] It should be explained that the multi-station automatic packaging equipment includes a fixed component, a transfer component, a filling component and a sealing component. There are multiple fixed components, such as 6 in this embodiment, which are connected to the transfer component in sequence at equal intervals. The transfer component adopts a linear slide module, the fixed component is connected to its slide, and the moving direction of the fixed component is parallel to the plane where each sealing component is located, which can drive the fixed component to move synchronously. There are multiple filling components and sealing components, and the number of filling components is one less than the number of sealing components. In this embodiment, if there are 3 filling components, there are 4 sealing components. The filling component is located in the middle of two adjacent sealing components and at the same height, and the sealing component is also at the same height.

[0104] The fixing assembly is divided into a first fixing assembly and a second fixing assembly which are staggered with each other. If there are 6 fixing assemblies mentioned above, then the number of the first fixing assembly and the second fixing assembly here are both 3. The structure and size are completely the same, but the position is different. The fixing assembly includes a first clamping member and a second clamping member which are arranged opposite to each other, as well as a first swing arm, a second swing arm and a support beam. One end of the first swing arm is rotatably connected to the support beam, and the other end is connected to the first clamping member; the second swing arm is similarly connected to the second clamping member, the rotational surface of the first swing arm is parallel to the rotational surface of the second swing arm, and the support beam is fixedly connected to the transfer assembly.

[0105] The multi-station automatic packaging equipment also includes a bag suction assembly, the number of which is consistent with the number of filling assemblies. For example, if there are three filling assemblies in this embodiment, then the number of bag suction assemblies is also three. The bag suction assemblies and the filling assemblies correspond one to one and are directly opposite to each other, and are used to suck the packaging bags and transport them to the fixed assembly.

[0106] Reference Figure 2 As shown, the second aspect of the present invention provides a multi-station automatic packaging control system, including: a bag suction component start-up judgment module, a filling operation waiting execution module, an operation quality estimation judgment module, a sealing component pre-execution effect evaluation module and a packaging control module waiting again.

[0107] The second aspect of the present invention provides a multi-station automatic packaging control system, which also includes: a packaging control management library, which is used to store suction discrete degree limit values, response limit time, air flow velocity discrete degree limit values, noise limit values, vibration frequency limit values, vibration frequency adaptation mean, actual filling adaptation speed, actual material reference amount, actual tilt reference angle value, actual sealing adaptation time, environmental reference humidity and preset values ​​of various factors.

[0108] The bag suction component start-up determination module is connected to the filling operation waiting execution module, the filling operation waiting execution module is connected to the operation quality estimation determination module, the operation quality estimation determination module is connected to the sealing component pre-execution effect evaluation module, the sealing component pre-execution effect evaluation module is connected to the re-waiting packaging control module, and the bag suction component start-up determination module, the operation quality estimation determination module and the sealing component pre-execution effect evaluation module are all connected to the packaging control management library.

[0109] The bag suction component startup determination module is used for each bag suction component to receive the startup instruction of the automatic packaging control platform, and obtain the startup performance data of each bag suction component before the startup instruction is executed, determine the startup performance status index of each bag suction component, and verify it with the predefined startup performance status adaptation index, and the automatic packaging control platform determines whether to optimize the performance of each bag suction component.

[0110] The filling operation waiting execution module is used for each bag suction component to execute the start-up instruction of the automatic packaging control platform, and automatically transport the corresponding packaging bag to each fixed component after execution, so that the automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position and wait for each filling component to perform the filling operation.

[0111] The operation quality estimation and determination module is used for each filling component to receive the filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, to determine the operation quality estimation value of each filling component and compare it with the predefined operation quality allowable estimation value interval. The automatic packaging control platform determines whether to optimize the filling of each filling component, and finally each filling component automatically performs the filling operation.

[0112] The sealing component pre-execution effect evaluation module is used for each packaging bag belonging to each fixed component to wait for each sealing component to perform a sealing operation after filling is completed. Each sealing component receives a sealing instruction sent by the automatic packaging control platform, and evaluates the pre-execution effect index of each sealing component before starting the sealing instruction, and verifies it with the predefined pre-execution effect permission index range. The automatic packaging control platform determines whether to optimize the sealing of each sealing component, so that each sealing component automatically performs a sealing operation.

[0113] The packaging control module is used to wait for each packaging bag that has completed sealing to be released by each fixed component. At the same time, the automatic packaging control platform controls the transfer component to drive each fixed component to move to the second position to wait for the filling operation again, and finally completes the multi-station automatic packaging control.

[0114] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A multi-station automatic packaging control method, characterized in that: include: Bag suction component startup determination: Each bag suction component receives the startup instruction from the automatic packaging control platform, and obtains the startup performance data of each bag suction component before the startup instruction is executed, determines the startup performance status index of each bag suction component, and verifies it with the predefined startup performance status adaptation index. The automatic packaging control platform determines whether to optimize the performance of each bag suction component; The filling operation is waiting for execution: each bag suction component executes the start-up instruction of the automatic packaging control platform, and automatically transports the corresponding packaging bag to each fixed component after execution, so that the automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position and wait for each filling component to perform the filling operation; Operation quality estimation and judgment: Each filling component receives the filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, it determines the operation quality estimation value of each filling component and compares it with the predefined operation quality allowable estimation value range. The automatic packaging control platform determines whether to optimize the filling of each filling component, and finally each filling component automatically performs the filling operation; Sealing component pre-execution effect evaluation: After the filling is completed, each packaging bag belonging to each fixed component waits for each sealing component to perform the sealing operation. Each sealing component receives the sealing instruction sent by the automatic packaging control platform, and evaluates the pre-execution effect index of each sealing component before starting the sealing instruction, and verifies it with the predefined pre-execution effect allowable index range. The automatic packaging control platform determines whether to optimize the sealing of each sealing component, so that each sealing component automatically performs the sealing operation; Waiting for packaging control again: the sealed packaging bags are released by the fixed components. At the same time, the automatic packaging control platform controls the transfer component to drive the fixed components to move to the second position to wait for the filling operation again, and finally completes the multi-station automatic packaging control.

2. According to claim 1, a multi-station automatic packaging control method is characterized in that: The specific determination process of determining the startup performance status index of each suction bag assembly is as follows: The startup performance data of each suction bag assembly specifically includes the suction force value of each suction bag assembly at each startup time point, the response time of each suction bag assembly during the startup cycle, the airflow velocity of each suction bag assembly at each startup time point, the maximum noise value of each suction bag assembly during the startup cycle, and the maximum vibration frequency of each suction bag assembly during the startup cycle; The suction force values ​​of each suction bag assembly at each start-up time point are processed by standard deviation to obtain the suction force dispersion value of each suction bag assembly within the start-up cycle; Perform standard deviation processing on the airflow velocity of each suction bag assembly at each start-up time point to obtain the airflow velocity dispersion value of each suction bag assembly during the start-up cycle; Extract the suction force discrete degree limit value, response limit duration, air flow velocity discrete degree limit value, noise limit value and vibration frequency limit value from the packaging control management library; The suction force discreteness values ​​of each suction bag assembly during the startup cycle, the air flow velocity discreteness values ​​of each suction bag assembly during the startup cycle, the response time of each suction bag assembly during the startup cycle, the maximum noise value of each suction bag assembly during the startup cycle, and the maximum vibration frequency value of each suction bag assembly during the startup cycle are comprehensively analyzed to obtain the startup performance status index of each suction bag assembly.

3. According to claim 2, a multi-station automatic packaging control method is characterized in that: The automatic packaging control platform determines whether to optimize the performance of each bag suction component, specifically, by performing a startup performance check on the startup performance status index of each bag suction component and a predefined startup performance status adaptation index to obtain a startup performance check result, and the automatic packaging control platform determines whether to optimize the performance of each bag suction component; The startup performance verification result is the first startup performance verification result or the second startup performance verification result; The first startup performance verification result is specifically that the startup performance status index of each suction bag assembly is greater than or equal to the startup performance status adaptation index; The second startup performance verification result is specifically that the startup performance status index of a certain suction bag component is less than the startup performance status adaptation index; If the startup performance verification result shows the first startup performance verification result, the automatic packaging control platform determines that there is no need to optimize the performance of each bag suction component and executes the bag suction operation. If the startup performance verification result shows the second startup performance verification result, the automatic packaging control platform determines that the performance of the bag suction component needs to be optimized.

4. The multi-station automatic packaging control method according to claim 1, characterized in that: Each of the filling components receives a filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, determines the estimated value of the running quality of each filling component, thereby obtaining the start-up waiting data of each filling component, specifically including the historical material quantity of each filling component during the start-up waiting period, the historical filling speed of each filling component during the start-up waiting period, the vibration frequency of the driving element of each filling component at each start-up waiting time point, and the historical tilt angle value of the nozzle of each filling component; The vibration frequencies of the driving elements of each filling component at each start-up waiting time point are processed by averaging to obtain the average vibration frequencies of the driving elements of each filling component within the start-up waiting period; Extract the vibration frequency adaptation mean value, actual filling adaptation speed, actual material reference amount and actual tilt reference angle value from the packaging control management library; A comprehensive analysis is performed on the historical material quantity of each filling component during the startup waiting period, the historical filling speed of each filling component during the startup waiting period, the average vibration frequency of the driving element of each filling component during the startup waiting period, the startup performance status index of each suction bag component and the historical inclination angle value of the nozzle of each filling component to obtain the estimated operation quality of each filling component.

5. The multi-station automatic packaging control method according to claim 4, characterized in that: The automatic packaging control platform determines whether to optimize the filling of each filling component, specifically, by comparing the running quality estimate of each filling component with the predefined running quality allowable estimate interval to obtain the quality estimate comparison result, and the automatic packaging control platform determines whether to optimize the filling of each filling component; The quality estimation comparison result is the first quality estimation comparison result or the second quality estimation comparison result; The first quality estimation comparison result is specifically that the operation quality estimation values ​​of each filling component belong to the operation quality allowable estimation value range; The second quality estimation comparison result is specifically that the operation quality estimation value of a certain filling component does not belong to the operation quality allowable estimation value range; If the quality estimation comparison result shows the first quality estimation comparison result, the automatic packaging control platform determines that there is no need to optimize the filling of each filling component and performs the filling operation on the packaging bag. If the quality estimation comparison result shows the second quality estimation comparison result, the automatic packaging control platform determines that the filling component needs to be optimized.

6. The multi-station automatic packaging control method according to claim 1, characterized in that: The specific evaluation process of evaluating the pre-execution effect index of each sealing component is as follows: Obtain the pre-execution data of each sealing component, including the real-time heating temperature of each sealing component in the pre-execution period, the historical sealing time of each sealing component in the pre-execution period, the historical sealing pressure average of each sealing component in the pre-execution period, and the real-time environmental humidity of the area to which each sealing component belongs in the pre-execution period; Matching the startup performance status index of each suction bag assembly with the actual sealing pressure reference value corresponding to each predefined startup performance status index interval, thereby obtaining each actual sealing pressure reference value, and performing average processing to obtain the actual sealing pressure reference average value; Matching the airflow velocity discreteness value of each suction bag assembly in the startup cycle with the actual heating reference temperature corresponding to each predefined airflow velocity discreteness value interval, thereby obtaining each actual heating reference temperature, and performing average processing to obtain the average value of the actual heating reference temperature; The actual sealing adaptation time and the environmental reference humidity are extracted from the packaging control management library; The real-time heating temperature of each sealing component during the pre-execution cycle, the historical sealing time of each sealing component during the pre-execution cycle, the historical sealing pressure average of each sealing component during the pre-execution cycle, the real-time ambient humidity of the area to which each sealing component belongs during the pre-execution cycle, and the estimated operating quality of each filling component are comprehensively analyzed to obtain the pre-execution effect index of each sealing component.

7. A multi-station automatic packaging control method according to claim 6, characterized in that: The specific analysis method of the pre-execution effect index of each sealing component is as follows: In the formula, is the pre-execution effect index of the mth sealing component, m is the number of each sealing component, , M is the total amount of sealing components, is the real-time heating temperature of the mth sealing component at the tth moment of the pre-execution cycle, t is the time variable, , is the start time of the pre-execution cycle, is the end time of the pre-execution cycle, is the actual heating reference temperature average, is the real-time ambient humidity of the area to which the mth sealing component belongs at the tth moment of the pre-execution cycle, is the ambient reference humidity, is the historical sealing duration of the mth sealing component in the pre-execution period, To adapt the actual sealing time, is the historical average sealing pressure of the mth sealing component in the pre-execution period, is the reference mean of the actual sealing pressure, is the estimated running quality of the bth filling component, b is the number of each filling component, , B is the total amount of the filling component, The pre-execution effect weight parameter corresponding to the real-time heating temperature predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the real-time ambient humidity predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the historical sealing time predefined in the packaging control management library, The pre-execution effect weight parameter corresponding to the historical sealing pressure mean value predefined in the packaging control management library, It is the pre-execution effect weight parameter corresponding to the estimated mean value of operation quality predefined in the packaging control management library, and e is a natural constant.

8. A multi-station automatic packaging control method according to claim 7, characterized in that: The automatic packaging control platform determines whether to perform sealing optimization on each sealing component, specifically, the pre-execution effect index of each sealing component is verified with a predefined pre-execution effect allowable index interval to obtain a pre-execution effect verification result, and the automatic packaging control platform determines whether to perform sealing optimization on each sealing component; The pre-execution effect verification result is the first pre-execution effect verification result or the second pre-execution effect verification result; The first pre-execution effect verification result is specifically that the pre-execution effect index of each sealing component belongs to the pre-execution effect allowable index range; The second pre-execution effect verification result is specifically that the pre-execution effect index of a certain sealing component does not belong to the pre-execution effect permitted index range; If the pre-execution effect verification result shows the first pre-execution effect verification result, the automatic packaging control platform determines that there is no need to perform sealing optimization on each sealing component, and performs the sealing operation on the packaging bag after filling. If the pre-execution effect verification result shows the second pre-execution effect verification result, the automatic packaging control platform determines that it is necessary to perform sealing optimization on the sealing component.

9. The multi-station automatic packaging control method according to claim 1, characterized in that: The final multi-station automatic packaging control is completed, and the specific control process is: The fixing components specifically include first fixing components and second fixing components; The automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position to wait for each filling component to perform a filling operation. Specifically, the automatic packaging control platform controls the transfer component to drive each first fixed component to move to the first position to wait for each filling component to perform a filling operation on each packaging bag clamped by each first fixed component. The automatic packaging control platform controls the transfer component to drive each fixed component to move to the second position and wait for the filling operation again. Specifically, the automatic packaging control platform controls the transfer component to drive each second fixed component to move to the second position, waiting for each filling component to perform the filling operation on each packaging bag clamped by each second fixed component.

10. A system using a multi-station automatic packaging control method as claimed in any one of claims 1 to 9, characterized in that: include: The bag suction component startup determination module is used for each bag suction component to receive the startup instruction of the automatic packaging control platform, and obtain the startup performance data of each bag suction component before the startup instruction is executed, determine the startup performance status index of each bag suction component, and verify it with the predefined startup performance status adaptation index, and the automatic packaging control platform determines whether to optimize the performance of each bag suction component; The filling operation waiting execution module is used for each bag suction component to execute the start-up instruction of the automatic packaging control platform, and automatically transport the corresponding packaging bag to each fixed component after execution, so that the automatic packaging control platform controls the transfer component to drive each fixed component to move to the first position to wait for each filling component to perform the filling operation; The operation quality estimation and determination module is used for each filling component to receive the filling instruction sent by the automatic packaging control platform, and before starting the filling instruction, to determine the operation quality estimation value of each filling component and compare it with the predefined operation quality allowable estimation value interval. The automatic packaging control platform determines whether to optimize the filling of each filling component, and finally each filling component automatically performs the filling operation; The sealing component pre-execution effect evaluation module is used for each packaging bag belonging to each fixed component to wait for each sealing component to perform the sealing operation after the filling is completed. Each sealing component receives the sealing instruction sent by the automatic packaging control platform, and evaluates the pre-execution effect index of each sealing component before starting the sealing instruction, and verifies it with the predefined pre-execution effect permission index range. The automatic packaging control platform determines whether to optimize the sealing of each sealing component, so that each sealing component automatically performs the sealing operation; Wait for the packaging control module again, and the sealed packaging bags are released by the fixed components. At the same time, the automatic packaging control platform controls the transfer component to drive the fixed components to move to the second position to wait for the filling operation again, and finally completes the multi-station automatic packaging control.

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