A fully automatic coordinated copper rod packaging system and method

Abstract

The present application relates to the technical field of packaging transportation, and particularly relates to a full-automatic cooperative copper rod packaging system and method, which comprises multiple working devices, and the multiple working devices at least comprise a wood pallet supply machine, a weighing machine, a bundling machine, a top film covering machine, a winding machine, a printing and labeling machine and an end transfer machine arranged from a front end to an end of the system; a position measuring sensor is arranged on the end transfer machine; the system further comprises multiple transition conveying lines, the multiple transition conveying lines are alternately arranged with the multiple working devices; an entrance sensor and an exit sensor are arranged at two ends of each transition conveying line respectively, and a positioning sensor is further arranged at one end close to the exit sensor, and the positioning sensor and the exit sensor are spaced apart; each transition conveying line is driven by an independent motor; a controller is used for controlling the motor of the multiple transition conveying lines; and an alarm is used for sending an alarm to the outside. Through the present application, the transfer pressure at the end of the packaging production line can be effectively reduced, and product accumulation can be prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the packaging and transportation technical field, and particularly relates to a full-automatic cooperative copper rod packaging system and method. BACKGROUND

[0002] Copper rod is one of the commonly used raw materials for wire and cable production. After the copper material is cast into copper billets, the copper billets will be subjected to processes such as removing the oxide skin, cleaning, drawing, polishing and the like to form the final copper rod product. Then the copper rod product is wound and placed on a wooden pallet, and the packaging of the wound copper rod product is completed through processes such as film covering, winding and packaging, and label pasting. Then the packaged copper rod product is transported away by a forklift. In the existing packaging system, a constant speed transportation mode is adopted. If the packaged product at the end is not taken away in time, the two products at the end may collide, and in this case, the packaging system will be completely stopped. However, since the copper rod product before packaging is continuously produced, especially the drawing process which is not suitable for stopping, the copper rod will accumulate at the front end of the packaging system. As can be seen, in the existing packaging system, if the product at the end is not taken away in time, it is likely to cause a material stacking problem, which seriously affects normal production and product safety. SUMMARY

[0003] The present application provides a full-automatic cooperative copper rod packaging system and method, which can effectively solve the problems in the background art.

[0004] The full-automatic cooperative copper rod packaging system provided by the present application comprises a plurality of working devices, and the plurality of working devices at least comprises a wooden pallet supply machine, a weighing machine, a bundling machine, a top film covering machine, a winding machine, a label printing and pasting machine, and an end transfer machine arranged in order from the front end to the end of the system.

[0005] A position measuring sensor is arranged on the end transfer machine.

[0006] Further comprising a plurality of transition conveying lines, the plurality of transition conveying lines are alternately arranged with the plurality of working devices.

[0007] The two ends of each transition conveying line are respectively provided with an entrance sensor and an exit sensor, and a positioning sensor is further arranged at the end close to the exit sensor, and the positioning sensor and the exit sensor are spaced apart; each transition conveying line is driven by an independent motor.

[0008] A controller is used to control the motor work of the plurality of transition conveying lines.

[0009] An alarm is used to send an alarm to the outside.

[0010] Further, the lengths of the plurality of transition conveying lines gradually decrease in order from the front end to the end of the system.

[0011] Further, the position sensor is a weight sensor; two position sensors are arranged in each transition conveying line to back up each other.

[0012] The application also provides a full-automatic cooperated copper rod packaging method, which uses the full-automatic cooperated copper rod packaging system as described above, and the steps include:

[0013] According to the product size and packaging requirements, the maximum product spacing Lmax and the minimum product spacing Lmin are set, and the length of each transition conveying line is an integer multiple of Lmin;

[0014] According to Lmin, the area of each transition conveying line is divided, the binary distribution code corresponding to each transition conveying line is generated, and the binary distribution code is updated every time the transition conveying line moves Lmin distance;

[0015] In the initial stage, the speed of all transition conveying lines is kept consistent, so that the spacing between products on each transition conveying line is Lmax;

[0016] When the position sensor of the last transition conveying line is triggered, if the position sensor is not in the triggered state, it is switched to the normal state; if the position sensor is in the triggered state, it is switched to the waiting state;

[0017] In the normal state, all working transition conveying lines move independently until the corresponding position sensor is triggered, and then stop, and then all transition conveying lines are moved synchronously, and the products are simultaneously fed into the corresponding working equipment;

[0018] In the waiting state, each transition conveying line is judged in order from the end of the system to the front end, and the remaining capacity of the transition conveying line is calculated, if the transition conveying line has no remaining capacity, the transition conveying line is stopped and the next one is judged; if the transition conveying line has remaining capacity, all transition conveying lines between the transition conveying line and the front end of the system work in the normal state, and the transition conveying line arranges the remaining capacity of the product with a spacing of Lmin.

[0019] Further, the specific generation process of the binary distribution code is as follows:

[0020] The length of the ith transition conveying line is Li;

[0021] The number of bits X of the binary distribution code of the ith transition conveying line is Li / Lmin;

[0022] When the system starts, the value of each bit of the binary distribution code of each transition conveying line is 0;

[0023] Each time the entry sensor of the transition conveying line is triggered, the leftmost value of the binary distribution code of the transition conveying line is updated to 1;

[0024] When a transition conveying line moves, each time the transition conveying line moves a distance Lmin, the binary distribution code of the transition conveying line is right-shifted by one bit, and it is determined whether the entry sensor of the transition conveying line is triggered, if it is triggered, the leftmost value of the binary distribution code of the transition conveying line is supplemented with 1, otherwise it is supplemented with 0.

[0025] Further, in the waiting state, the accommodation margin is calculated as follows:

[0026] Let the value of the leftmost value of the binary distribution code of the transition conveying line be Nl, and the number of bits passed by the binary distribution code of the transition conveying line from right to left when the first value of 1 is encountered be Nr; then the accommodation margin Ncap = Nr + (~Nl).

[0027] Where ~ is the NOT operator;

[0028] The arrangement method of the products is as follows:

[0029] If Nl is 0, then each time all the transition conveying lines participating in the work normally work once, the movement of the transition conveying line is stopped;

[0030] If Nl is 1, then each time all the transition conveying lines participating in the work normally work once, the transition conveying line moves a distance Lmin;

[0031] Each time all the transition conveying lines participating in the work normally work once, the judgment and calculation are performed again.

[0032] Further, in the normal state, the calculation method of the distance required for each transition conveying line to move to the positioning sensor is as follows:

[0033] Before moving, the binary distribution code of each transition conveying line at this time is obtained;

[0034] Let the number of bits passed by the binary distribution code of the i-th transition conveying line from right to left when the first value of 1 is encountered be Nri, then the i-th transition conveying line is controlled to move a distance of Nri·Lmin.

[0035] Further, the real-time calculation of the occupancy rate R = ΣC / (ΣL / Lmin) is performed.

[0036] Where ΣC is the sum of the number of products on all the transition conveying lines;

[0037] ΣL is the sum of the lengths of all the transition conveying lines;

[0038] When the occupancy rate R exceeds a set threshold, an alarm signal is sent.

[0039] Further, the calculation of the product quantity on the ith transition conveyor line is as follows:

[0040] Set the product quantity parameter Ci with an initial value of 0;

[0041] When the entrance sensor of the ith transition conveyor line is triggered, the value of the quantity parameter Ci is incremented by one; when the exit sensor is triggered, the value of the quantity parameter Ci is decremented by one.

[0042] Further, it further comprises a predictive maintenance step, specifically comprising:

[0043] The motor operating data of each transition conveyor line is monitored, and in combination with the operating cycle of the binary distribution code, potential faults are predicted through an anomaly detection algorithm, and when a potential fault is predicted, an alarm signal is sent externally.

[0044] Through the technical scheme of the present application, the following technical effects can be achieved:

[0045] The system and method can reduce the distance of the product on each transition conveyor line through the cooperation of the multiple transition conveyor lines when the end product is not taken away in time, and the rearrangement process can be automatically calculated and executed through the method, thereby effectively reducing the end pressure of the packaging line and preventing the accumulation of products from causing hidden dangers to the safety of the equipment and products. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0047] Figure 1 It is a schematic diagram of the initial stage of the full-automatic cooperative copper rod packaging system;

[0048] Figure 2 It is a schematic diagram of the first step of the waiting state of the full-automatic cooperative copper rod packaging system;

[0049] Figure 3 It is a schematic diagram of the second step of the waiting state of the full-automatic cooperative copper rod packaging system;

[0050] Figure 4 It is a schematic diagram of the third step of the waiting state of the full-automatic cooperative copper rod packaging system;

[0051] Figure 5 It is a schematic diagram of the fourth step of the waiting state of the full-automatic cooperative copper rod packaging system. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the singular forms "a", "an" and "the" include plural references unless the context clearly dictates otherwise.

[0054] The present application relates to a full-automatic cooperative copper rod packaging system, comprising a plurality of working devices for realizing one step in the packaging process, and the plurality of working devices at least comprise the following devices arranged from the front end to the end of the system:

[0055] A wooden pallet supply machine is located at the front end of the unit and automatically supplies wooden pallets, on which the copper rods are directly dropped after being wound;

[0056] A weighing machine is used for weighing the copper rods to ensure the accuracy of the product quantity;

[0057] A bundling machine is used for bundling the wound copper rods to avoid the copper rods from falling off;

[0058] A top film covering machine covers a film on the top of the whole-pallet product, and the film protects the product from water and dust;

[0059] A winding machine winds the protective film on the wound copper rod product to form an outer protective layer;

[0060] A printing and labeling machine is used for automatically printing product information and sticking it on the surface of the copper rod product;

[0061] An end transfer machine is located at the end of the packaging system, and the copper rod product is transported to the end transfer machine and waits for a forklift to take it away. A position detection sensor is arranged on the end transfer machine and is used for detecting whether there is a copper rod product on the end transfer machine.

[0062] In addition to the above-mentioned necessary working devices, other working devices can be added according to requirements, such as a blowing and cleaning machine added before the top film covering machine. In addition to the working devices, a plurality of transition conveying lines are also included, the plurality of transition conveying lines are alternately arranged with the plurality of working devices and are used for conveying the product between the working devices. Each working device is provided with a material taking and discharging mechanism, that is, when the product is transported to the end of the transition conveying line, it is taken away by the material taking mechanism of each working device, and then after the processing is completed, it is sent out to the front end of the next transition conveying line through the discharging mechanism.

[0063] The front end of each transition conveying line is provided with an entrance sensor, and the tail end is provided with an exit sensor, which are triggered when the workpiece enters or moves out of the transition conveying line. The transition conveying line is further provided with a positioning sensor at the end close to the exit sensor, and the positioning sensor and the exit sensor are spaced apart. Each transition conveying line is driven by an independent motor, so that the movements of the transition conveying lines are independent of each other.

[0064] The system further comprises a PLC, a chip or the like controller for controlling the motor of the plurality of transition conveying lines; the controller is further connected with an alarm for sending an alarm to the outside when a dangerous condition occurs.

[0065] Preferably, the lengths of the plurality of transition conveying lines gradually decrease in order from the front end to the tail end of the system, because the more the transition conveying lines and the working devices located at the front end of the system, the more uncontrollable factors are accumulated, and the length of the transition conveying line needs to be appropriately lengthened to provide more adjustment space for the transition conveying line.

[0066] The requirements for the entrance sensor and the exit sensor in the system are relatively small, and the passing of the workpiece can be accurately identified; for the positioning sensor, a weight sensor is preferably used, so that the product can be detected at any position of the tail end transfer machine; the positioning sensor in each transition conveying line is mainly used to prevent the workpieces from colliding, and is therefore important, and therefore two backup positioning sensors are required.

[0067] The application also relates to a full-automatic copper rod packaging method using the full-automatic copper rod packaging system, and the steps comprise:

[0068] Basic data setting: this step is to determine some fixed parameters required before the packaging operation, including:

[0069] According to the product size and packaging requirements, the maximum product spacing Lmax and the minimum product spacing Lmin are set, and the length of each transition conveying line is an integer multiple of Lmin. The interval between the positioning sensor and the exit sensor is Lmin.

[0070] Initial start: at this time, the copper rod product has just been processed, and the copper rod product is continuously conveyed to the packaging production line;

[0071] First, the regions of the transition conveying lines are divided according to Lmin, the number of regions is taken as the number of bits, and the regions with workpieces are recorded as 1 and the regions without workpieces are recorded as 0, so that the binary distribution code corresponding to each transition conveying line can be generated, so as to reflect the positions of the workpieces; the binary distribution code is updated every time the transition conveying line moves Lmin, so that the binary distribution code can correspond to the positions of the workpieces in real time.

[0072] In the initial stage, the speed of all the transition conveying lines is kept consistent, so that the spacing between the products on each transition conveying line is Lmax.

[0073] Packaging working period: when the first product reaches the end transfer machine, the packaging system enters this step to determine the working state of the entire packaging system.

[0074] Whenever the positioning sensor of the last transition conveying line is triggered, if the positioning sensor is not in the triggered state, it means that the product at the end has been taken away in time, and the system can switch to the normal state; if the positioning sensor is in the triggered state, it means that the product at the end has not been taken away, and the system immediately switches to the waiting state to start reducing the spacing of the products on the transition conveying line to avoid stacking problems.

[0075] In the normal state, all the participating transition conveying lines move independently until the corresponding positioning sensor is triggered, and then all the transition conveying lines move synchronously. For example, if there are four transition conveying lines A~D, and the A transition conveying line moves to the positioning sensor trigger state first, the A transition conveying line needs to pause and wait for all the other transition conveying lines (B~D) to move to the positioning sensor trigger state. Only when all the four transition conveying lines move to the positioning sensor trigger state can they work together to send the products into the corresponding working equipment, ensuring that the workpieces do not collide when transferring between different transition conveying lines. This process is called one working cycle.

[0076] In the waiting state, the transition conveying lines are judged in order from the end of the system to the front end, and the remaining capacity of the transition conveying line being judged is calculated. If the transition conveying line has no remaining capacity, it stops and the next transition conveying line is judged. If the transition conveying line has remaining capacity, the transition conveying line that has been stopped and is being judged is recorded as not participating in work, and all the transition conveying lines between the transition conveying line and the front end of the system are recorded as participating in work. Then, all the transition conveying lines participating in work work according to the normal state (i.e., all stop at the positioning sensor first, and then are sent into the working equipment together), and arrange the products with a spacing of Lmin on the transition conveying line.

[0077] Preferably, the specific generation process of the binary distribution code is as follows:

[0078] Let the length of the ith transition conveying line be Li.

[0079] The number of bits X of the binary distribution code of the ith transition conveying line is Li / Lmin.

[0080] When the system starts up, the value of each bit of the binary distribution code of each transition conveyor line is 0;

[0081] Each time the inlet sensor of the transition conveyor is triggered, the leftmost end of the binary distribution code of the transition conveyor is updated to 1.

[0082] When a transition conveyor line moves, for every Lmin that the transition conveyor line moves, the binary distribution code of the transition conveyor line is shifted one bit to the right, and it is checked whether the inlet sensor of the transition conveyor line is triggered. If it is triggered, the leftmost end of the binary distribution code of the transition conveyor line is filled with the value 1, otherwise the value is filled with 0.

[0083] by Figures 1-5 Taking the following scenario as an example, the maximum product spacing Lmax = 1.5m, the minimum product spacing Lmin = 0.5m, and the length of the i-th transition conveyor line Li = 4.5m, we can now calculate the number of bits in the binary distribution code X = Li / Lmin = 4.5 / 0.5 = 9. That is, the binary distribution code of the i-th transition conveyor line is a 9-bit binary number. Figure 2 As shown, since the material handling of the working equipment is automated, the end of each transition conveyor line can be considered directly connected to the beginning of the next transition conveyor line. Therefore, removing this position from the bit depth results in a 9-bit number. At system startup, the binary distribution code is 000000000. As the product progresses, the binary distribution code is updated. Figures 2-3 Taking the change of the C-transition conveyor line as an example, Figure 2 The binary distribution code for the C-transition conveyor line is 001001001, from... Figures 2-3 The C transition conveyor line moves forward by Lmin, which means it needs to shift one bit to the right. In addition, one more is added to the front end of the C transition conveyor line. Therefore, the binary distribution code of the C transition conveyor line will become 100100100.

[0084] For each transition conveyor line being assessed, its capacity margin must first be calculated. The specific method for calculating the capacity margin is as follows:

[0085] Let Nl be the leftmost value of the binary distribution code of the transition conveyor line, and Nr be the number of bits that the binary distribution code of the transition conveyor line passes through when it encounters the first number with a value of 1 from right to left; then the capacity margin Ncap = Nr + (~Nl);

[0086] Where ~ is the negation operator, that is, if Nl is 1, then ~Nl is 0, and if Nl is 0, then ~Nl is 1;

[0087] The products are arranged as follows:

[0088] If Nl is 0, then the movement of the transition conveyor line will stop after all the transition conveyors involved in the work have worked normally once.

[0089] If Nl is 1, then each time all the transition conveyors involved in the work work normally once, the distance Lmin that the transition conveyor moves is;

[0090] Each time all the transition conveyors involved in the operation work normally, the judgment and calculation are re-performed.

[0091] The specific working principle of the waiting state is as follows Figures 2-5 For example, the details are as follows:

[0092] First, each transition conveyor line is assessed in order from the end of the system to the beginning, for example... Figures 2-5 If there is a packaging production line that transfers data from left to right, then the order of judgment should be from D to A.

[0093] by Figure 2 For example, the binary distribution code of transition conveyor line D is 001001001. At this time, the positioning sensor in the last D transition conveyor line has been triggered, but the product on the end transfer machine has not yet been removed, so it will switch to a waiting state. At this time, the D transition conveyor line is checked first, and Nl=0, Nr=0, and the capacity margin Ncap=1, indicating that the D transition conveyor line can still put one more product. Since Nl is 0, when all the participating transition conveyors (A~C) work normally once, the D transition conveyor line stops moving, and the result is obtained. Figure 3 The state.

[0094] exist Figure 3 At this point, the binary distribution code of transition conveyor line D is 101001001, Nl=1, Nr=0, and the capacity margin Ncap=0, indicating that transition conveyor line D can no longer hold products. Transition conveyor line D remains stopped, and then the process moves to transition conveyor line C. Transition conveyor line C has Nl=1, Nr=2, and the capacity margin Ncap=2, indicating that it can still hold two products. Since Nl for transition conveyor line C is 1, when all participating transition conveyors (A~B at this point) work normally once, transition conveyor line C moves forward by Lmin, resulting in... Figure 4 The state.

[0095] exist Figure 4 At this point, the binary distribution code of transition conveyor line C is 110010010, Nl=1, Nr=1, and the capacity margin Ncap=1, indicating that transition conveyor line C can still hold one product. Since Nl of transition conveyor line C is 1, when all participating transition conveyor lines (A~B at this point) work normally once, transition conveyor line C moves forward by Lmin, which will result in...Figure 5 The state.

[0096] Under normal conditions, the distance required for each transition conveyor line to move to the positioning sensor can also be quickly calculated using binary distribution codes. The calculation method is as follows:

[0097] Before moving, obtain the binary distribution code of each transition conveyor line at this time;

[0098] Let Nri be the number of bits that the binary distribution code of the i-th transition conveyor line passes through when it encounters the first number with a value of 1 from right to left. Then, the distance Nri·Lmin is used to control the movement of the transition conveyor line.

[0099] by Figure 3 Taking the B transition conveyor line as an example, the binary distribution code of the B transition conveyor line is 100100100, and Nri=2, which means that the B transition conveyor line needs to be controlled to move a distance of 2Lmin in order for the product to reach the positioning sensor.

[0100] In this method, the occupancy rate R=ΣC / (ΣL / Lmin) also needs to be calculated in real time;

[0101] Wherein, ΣC is the total number of products on all transitional transport lines;

[0102] ΣL is the sum of the lengths of all transition conveyor lines;

[0103] When the occupancy rate R exceeds the manually set threshold, it indicates that the products on each transition conveyor line are too densely packed, requiring an alarm signal to alert personnel, or even personnel assistance to rearrange them.

[0104] Since the binary distribution code is complex, a simpler algorithm is introduced to count the number of products on each transition conveyor line. The calculation of the number of products on the i-th transition conveyor line is as follows:

[0105] Set the product quantity parameter Ci to an initial value of 0;

[0106] When the inlet sensor of the i-th transition conveyor line is triggered, the value of the quantity parameter Ci is incremented by one; when the outlet sensor is triggered, the value of the quantity parameter Ci is decremented by one.

[0107] Each transition conveyor line has its own corresponding quantity parameters, and these parameters do not affect each other and are counted independently.

[0108] This method also includes a predictive maintenance step, specifically including:

[0109] The motor working data of each transition conveying line is monitored, and combined with the working period of the binary distribution code, an abnormal detection algorithm (such as the isolation forest algorithm) is used to predict potential faults, and when potential faults are predicted, an alarm signal is sent out to remind personnel to replace parts or adjust parameters in time.

[0110] Although the present application has been described in connection with specific features and embodiments thereof, it is to be understood that it is not to be limited to the particulars thereof but is to be understood to the fullest extent consistent with the spirit and scope of the present application. That is, the present application is intended to cover any and all modifications, variations, combinations or equivalents that fall within the scope of the present application, including its general principles. Accordingly, various modifications and changes can be made to the application without departing from the scope and spirit of the application. It is intended that the present application embrace all such modifications and changes and, accordingly, the application is not to be limited by the foregoing description but is only limited by the scope of the appended claims.

Claims

1. A fully automatic coordinated copper rod packaging method, characterized by, The full-automatic cooperative copper rod packaging system comprises: a plurality of working devices, the plurality of working devices at least comprising a wooden pallet supply machine, a weighing machine, a bundling machine, a top film covering machine, a winding machine, a printing and labeling machine, and an end transfer machine arranged from the front end to the end of the system; a position measuring sensor is arranged on the end transfer machine; a plurality of transition conveying lines are alternately arranged with the plurality of working devices; an entrance sensor and an exit sensor are arranged at two ends of each transition conveying line, and a positioning sensor is further arranged at one end close to the exit sensor, and there is a certain interval between the positioning sensor and the exit sensor; each transition conveying line is driven by an independent motor; a controller is used to control the motor operation of the plurality of transition conveying lines; an alarm is used to send an alarm to the outside; the method steps comprise: according to the product size and packaging requirements, setting the maximum product spacing Lmax and the minimum product spacing Lmin, and the length of each transition conveying line is an integer multiple of Lmin; according to Lmin, dividing the area of each transition conveying line, generating the corresponding binary distribution code of each transition conveying line, and updating the binary distribution code every time the transition conveying line moves Lmin; in the initial stage, the speed of all transition conveying lines is kept consistent, so that the spacing between products on each transition conveying line is Lmax; when the positioning sensor of the last transition conveying line is triggered, if the position measuring sensor is not in the triggered state, switch to the normal state; if the position measuring sensor is in the triggered state, switch to the waiting state; in the normal state, all participating transition conveying lines move independently until the corresponding positioning sensor is triggered, and then stop, and when all the positioning sensors of the transition conveying lines are triggered, move synchronously to send the products into the corresponding working devices at the same time; in the waiting state, each transition conveying line is judged in order from the end of the system to the front end, and the remaining capacity of the transition conveying line at this time is calculated, if the transition conveying line has no remaining capacity, stop the transition conveying line and judge the next one; if the transition conveying line has a remaining capacity, all transition conveying lines between the transition conveying line and the front end of the system work in the normal state, and arrange the remaining capacity of the products with a spacing of Lmin on the transition conveying line.

2. The fully automatic coordinated copper rod packaging method according to claim 1, characterized in that, The specific generation process of the binary distribution code is as follows: the length of the ith transition conveying line is Li; the number of bits X of the binary distribution code of the ith transition conveying line is Li / Lmin; when the system starts, the value of each bit of the binary distribution code of each transition conveying line is 0; each time the entrance sensor of the transition conveying line is triggered, the leftmost end of the binary distribution code of the transition conveying line is updated to 1; when a transition conveying line moves, the binary distribution code of the transition conveying line is shifted one bit to the right every time the transition conveying line moves Lmin, and it is determined whether the entrance sensor of the transition conveying line is triggered, if it is triggered, the leftmost end of the binary distribution code of the transition conveying line is supplemented with the value 1, otherwise with the value 0.

3. The fully automatic coordinated copper rod packaging method according to claim 2, characterized in that, In the waiting state, the remaining capacity calculation method is as follows: Let the value of the leftmost bit of the binary distribution code of the transition conveying line be Nl, and the number of bits passed by the binary distribution code of the transition conveying line from right to left until the first bit with a value of 1 is Nr; then the accommodation margin Ncap = Nr + (~Nl); where ~ is the NOT operator; The arrangement method of the products is as follows: If Nl is 0, then when all the transition conveying lines participating in the work are normally operated once, the movement of the transition conveying line is stopped; If Nl is 1, then when all the transition conveying lines participating in the work are normally operated once, the transition conveying line moves a distance Lmin; Each time all the transition conveying lines participating in the work are normally operated once, the judgment and calculation are re-performed.

4. The fully automatic coordinated copper rod packaging method according to claim 2, characterized in that, The calculation method of the distance required for each transition conveying line to move to the positioning sensor in the normal state is as follows: Before moving, the binary distribution code of each transition conveying line at this time is obtained; Let the number of bits passed by the binary distribution code of the ith transition conveying line from right to left until the first bit with a value of 1 be Nri, and the transition conveying line is controlled to move a distance of Nri·Lmin.

5. The fully automatic coordinated copper rod packaging method according to claim 1, characterized in that, The real-time calculation of the occupancy rate R = ΣC / (ΣL / Lmin); where ΣC is the total of the number of products on all the transition conveying lines; ΣL is the total of the lengths of all the transition conveying lines; When the occupancy rate R exceeds the set threshold, an alarm signal is sent.

6. The fully automatic coordinated copper rod packaging method according to claim 5, characterized in that, The calculation of the number of products on the ith transition conveying line is as follows: A product quantity parameter Ci with an initial value of 0 is set; When the inlet sensor of the ith transition conveying line is triggered, the value of the quantity parameter Ci is increased by one; when the outlet sensor is triggered, the value of the quantity parameter Ci is decreased by one.

7. The fully automatic coordinated copper rod packaging method according to claim 1, characterized in that, It also includes a predictive maintenance step, which specifically includes: Monitoring the motor operation data of each transition conveying line, and combining the work cycle of the binary distribution code, the potential failure is predicted through an abnormal detection algorithm, and when a potential failure is predicted, an alarm signal is sent externally.

8. The fully automatic coordinated copper rod packaging method according to claim 1, characterized in that, In the full-automatic cooperative copper rod packaging system, the lengths of the plurality of transition conveying lines gradually decrease in order from the front end to the end of the system.

9. The fully automatic coordinated copper rod packaging method according to claim 1, characterized in that, In the full-automatic cooperative copper rod packaging system, the positioning sensor is a weight sensor; two positioning sensors are arranged in each transition conveying line to back up each other.

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