An electric control method and system for automatic EVA tape winding

Abstract

The present application relates to the technical field of composite material packaging, and discloses an electric control method and system for automatic EVA tape winding, comprising: an import module, a winding module and an export module arranged in sequence; the import module is used for conveying products to the winding module at a first set conveying speed; the winding module is used for winding tape on the products at a set winding speed; the export module is used for conveying products at a second set conveying speed; a controller is used for controlling the import module, the winding module and the export module according to a set control strategy. The tape winding on the EVA cotton tube has a tape overlapping winding interval error controlled within 0.5 mm, the tape roll on the winding module performs circumferential motion, the tape is wound on the products, and the force of the wound tape is more uniform; the present application improves productivity and efficiency, reduces labor intensity, and solves the problems of low qualification rate and large precision error of the prior art through automatic operation.

Description

Technical Field

[0001] This invention relates to the field of composite material packaging technology, and more specifically, to an electronic control method and system for automatic EVA tape wrapping. Background Technology

[0002] Currently, the packaging of EVA foam (EVA is ethylene-vinyl acetate copolymer, a thermoplastic material) generally uses tape wrapping or tape packaging, and most of the tape wrapping is done manually, with the pass rate of tape wrapping judged by manual observation and the strength of the personnel.

[0003] The problem with existing technology is that it requires manual intervention throughout the process. In some high-requirement situations, manual tape wrapping can lead to uneven tape spacing and uneven wrapping force. As a result, the tape wrapped around the EVA foam surface is sometimes loose and sometimes tight during the packaging process. This makes it impossible to accurately meet the requirements for high-quality product packaging. In addition, the labor intensity of manual operation is high. Therefore, there is currently a lack of equipment on the market that can automatically and accurately wrap tape.

[0004] Therefore, it is necessary to propose an electronic control method and system for automatic EVA tape wrapping to at least partially solve the problems existing in the prior art. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, the present invention provides an electronic control system for automatic EVA tape wrapping, comprising: an inlet module, a wrapping module, and an outlet module arranged sequentially;

[0007] The import module is used to convey the product to the winding module at a first set conveying speed;

[0008] The winding module is used to wrap tape around the product at a set winding speed;

[0009] The outlet module is used to convey products at a second set conveying speed;

[0010] The controller is used to control the inlet module, winding module and outlet module according to the set control strategy.

[0011] Preferably, the import module includes:

[0012] The first sensor is used to identify whether there is a product on the inlet module at the beginning of the winding stage, and to identify the tail of the product at the end of the winding stage.

[0013] The import limiting unit is used to limit the product when the first sensor detects that there is a product on the import module, so that the product can move along a specified path;

[0014] After limiting the product, the imported conveying unit transports the product to the winding module. When the product reaches the initial winding position, the conveying stops. After the winding module completes the initial winding action, the imported conveying unit transports the product at a first set conveying speed under the control strategy set by the controller.

[0015] Preferably, the winding module includes:

[0016] A ring-shaped rotating unit with a roll of tape on it;

[0017] The clamping unit is used to clamp the movable end of the tape roll when the product is conveyed to the initial winding position. At the same time, the ring rotating unit drives the tape roll to rotate at a set angle, and then the movable end of the tape roll is released from clamping.

[0018] After the initial wrapping action is completed on the product, under the control strategy set by the controller, the tape is wrapped around the product at a set wrapping speed through the ring rotating unit;

[0019] After the tape is wrapped around the product, the cutting unit first clamps the tape using the clamping unit, and then cuts the tape using the cutting unit.

[0020] Preferably, the export module includes:

[0021] An outlet conveying unit is used to operate at a second set conveying speed when the first sensor detects the tail of the product; wherein the second set conveying speed is the same as the first set conveying speed.

[0022] The second sensor is used to identify whether the head of the product has reached the exit conveyor unit, and also to identify whether the product has left the exit conveyor unit.

[0023] The exit limit unit is used to limit the product when the second sensor detects that the head of the product has arrived at the exit conveyor unit, so that the product can move along a specified path.

[0024] Preferably, the annular rotating unit includes a servo motor and an annular gear, the output end of the servo motor is provided with a drive gear that meshes with the annular gear, the annular gear is provided with an annular plate, and the tape roll is disposed on the annular plate;

[0025] The operating speed of the servo motor is the product of the set winding speed and the gear speed ratio.

[0026] Preferably, it also includes:

[0027] The alarm module is used to issue an alarm when an abnormality occurs in the inlet module, winding module, or outlet module;

[0028] The visualization module is used for human-computer interaction and also for monitoring the operation of the inlet module, winding module, and outlet module.

[0029] Preferably, the setting control strategy includes: determining a first set conveying speed, a second set conveying speed, and a set winding speed based on the setting coordination relationship between the inlet module, the winding module, and the outlet module;

[0030] The set matching relationship is such that when the tape is wound, the ratio of the first set conveying speed to the set winding speed and the ratio of the second set conveying speed to the set winding speed both satisfy the set values.

[0031] Preferably, the setting control strategy further includes:

[0032] When the product has a non-circular cross-section, a 3D digital model of the product is obtained in advance.

[0033] Based on the product's 3D digital model and the tape's set winding spacing, plan the winding path so that the tape's centerline is perpendicular to the product's surface normal vector;

[0034] Based on the curvature changes of multiple path points along the winding path, the set winding speed corresponding to each path point is determined.

[0035] This invention also discloses an electronic control method for automatically wrapping EVA tape, comprising:

[0036] Place the product on the inlet conveyor unit of the inlet module;

[0037] Enter the corresponding product parameters in the visualization module;

[0038] Based on the product parameters, the import module, winding module, and export module enter the initialization state;

[0039] In automatic mode, the inlet module, winding module, and outlet module begin to operate automatically;

[0040] After the tape is wrapped, the inlet module, wrapping module, and outlet module stop operating and return to the initialization state.

[0041] Preferably, the inlet module, winding module, and outlet module begin automatic operation, including:

[0042] When the import module detects a product on it, it limits the product, causing the product to move along a designated path and be conveyed to the winding module.

[0043] When the product is conveyed to the initial winding position, the conveying stops, and the winding module drives the tape roll to rotate at a set angle to initially wind the head of the product.

[0044] Then, under the control strategy set by the controller, the import module and the winding module work together to wrap the product with tape;

[0045] When the import module detects the tail of the product, it triggers a delay to allow the tail of the product to reach the end of the tape winding, so that the tape can wrap around the tail of the product. At the same time, it controls the operation of the export module. After the tape has finished wrapping the tail of the product, it clamps and cuts the tape. When the export module is running, if it detects the head of the product, it limits the product and makes the product move along a specified path and be conveyed away from the winding module.

[0046] When the export module detects that a product has left the export conveyor unit, the import module, winding module, and export module stop operating and return to the initialization state.

[0047] Compared with the prior art, the present invention has at least the following beneficial effects:

[0048] The electronic control method and system for automatically wrapping EVA tape described in this invention, during the EVA cotton roll tape wrapping process, the inlet module, wrapping module, and outlet module are controlled by a controller according to a set control strategy, so that the first set conveying speed, the set wrapping speed, and the second set conveying speed are matched with each other, enabling automatic tape wrapping. This ensures that the tape is evenly wrapped around the product in a spiral shape during product movement, controlling the wrapping spacing error between overlapping tapes within 0.5mm, guaranteeing the uniformity of the wrapping spacing. Furthermore, as the product passes through the wrapping module, the tape roll on the winding module performs a circular motion to wrap around the product, making the wrapping force more uniform. Through the automatic control of the controller, the inlet module, wrapping module, and outlet module work automatically and collaboratively, reducing the intensity of manual labor.

[0049] This invention enables the equipment to be fully intelligent through an electronic control system, making it easy to use and achieving a high winding pass rate and high precision. Compared with existing technologies, both productivity and efficiency are improved. Existing technologies require 20 minutes to complete the winding of a product manually, and require two people to operate the entire process, resulting in high labor intensity. In contrast, this invention can complete the winding of a product in 3 minutes without requiring manual operation. Through automated operation, it can solve the problems of low pass rate and large precision error in existing technologies.

[0050] The electronic control method and system for automatic EVA tape wrapping described in this invention, along with other advantages, objectives, and features of this invention, will be partly apparent from the following description and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0052] Figure 1 This is a block diagram of the electronic control system for the automatic EVA tape wrapping described in this invention;

[0053] Figure 2 This is a schematic diagram of the inlet module, winding module, and outlet module of the electronic control system for automatic EVA tape wrapping described in this invention.

[0054] Figure 3 This is a schematic diagram of the tape roll and the product during the winding process in the electronic control system of the EVA automatic tape wrapping system described in this invention.

[0055] Figure 4 This is a schematic diagram of the imported module in the electronic control system for the automatic EVA tape wrapping of the present invention;

[0056] Figure 5 This is a detailed structural diagram of the winding module in the electronic control system of the EVA automatic tape winding of the present invention;

[0057] Figure 6 This is a schematic diagram of the structure of the tape roll and clamping unit and the cutting unit in the electronic control system of the EVA automatic tape wrapping system described in this invention;

[0058] Figure 7 This is a schematic diagram of the clamping unit and the cutting unit in the electronic control system of the EVA automatic tape wrapping system described in this invention;

[0059] Figure 8 This is a flowchart of the electronic control method for automatic EVA tape wrapping according to the present invention.

[0060] In the attached diagram, 1 is the import module, 2 is the winding module, 3 is the export module, 4 is the product, 5 is the conveying roller, 6 is the conveying frame, 7 is the support frame, 8 is the pressing cylinder, 9 is the pressing roller, 10 is the side-push cylinder, 11 is the side-push roller, 12 is the movable frame, 13 is the tape roll, 14 is the clamping cylinder, 15 is the clamping component, 16 is the shearing cylinder, 17 is the shearing component, 18 is the moving cylinder, 19 is the ring gear, and 20 is the ring plate. Detailed Implementation

[0061] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0062] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0063] like Figure 1 and Figure 2 As shown, the present invention provides an electronic control system for automatic EVA tape wrapping, comprising: an inlet module 1, a wrapping module 2, and an outlet module 3 arranged sequentially;

[0064] The import module 1 is used to convey the product 4 to the winding module 2 at a first set conveying speed;

[0065] The winding module 2 is used to wrap tape around the product 4 at a set winding speed;

[0066] The outlet module 3 is used to convey product 4 at a second set conveying speed;

[0067] The controller is used to control the inlet module 1, winding module 2 and outlet module 3 according to the set control strategy.

[0068] The inlet module 1 and outlet module 3 are respectively set on both sides of the winding module 2. The product 4 is conveyed through the inlet module 1 and outlet module 3, so that the product 4 can pass through the winding module 2. At the same time, the tape is wrapped around the product 4 through the winding module 2.

[0069] During the tape winding process, the inlet module 1, winding module 2, and outlet module 3 are controlled by a controller using a set control strategy. This ensures that the first set conveying speed, the set winding speed, and the second set conveying speed are matched, enabling automatic tape winding. As the product 4 moves, the tape is evenly wound around it in a spiral shape, keeping the overlap error of the tape on the product 4 within 0.5mm, thus ensuring uniformity of the winding spacing. In addition, as the product 4 passes through the winding module 2, the tape roll 13 on the winding module 2 performs a circular motion, winding the tape onto the product 4, resulting in more uniform tape winding force. Through the automatic control of the controller, the inlet module 1, winding module 2, and outlet module 3 work together automatically, reducing the workload of manual labor.

[0070] This invention enables the equipment to be fully intelligent through an electronic control system, making it easy to use and achieving a high winding pass rate and high precision. Compared with existing technologies, both productivity and efficiency are improved. Existing technologies require 20 minutes to complete the winding of a product manually, and require two people to operate the entire process, resulting in high labor intensity. In contrast, this invention can complete the winding of a product in 3 minutes without requiring manual operation. Through automated operation, it can solve the problems of low pass rate and large precision error in existing technologies.

[0071] like Figures 2-4 As shown, in one embodiment, the import module 1 includes:

[0072] The first sensor is used to identify whether there is product 4 on the inlet module 1 at the beginning of the winding stage, and to identify the tail of product 4 at the end of the winding stage.

[0073] The import limiting unit is used to limit the product 4 when the first sensor detects that there is a product 4 on the import module 1, so that the product 4 can move along the specified path.

[0074] After limiting the product 4, the inlet conveying unit conveys the product 4 to the winding module 2. When the product 4 is conveyed to the initial winding position, the conveying stops. After the winding module 2 completes the initial winding action, under the control strategy set by the controller, the inlet conveying unit conveys the product 4 at the first set conveying speed.

[0075] The imported conveying unit includes a stepper motor and multiple conveying rollers 5. The multiple conveying rollers 5 are rotatably mounted on the conveying frame 6. The stepper motor drives the multiple conveying rollers 5 to rotate synchronously through a gear transmission assembly. The conveying frame 6 is mounted on a lifting assembly, which is used to adjust the height of the conveying frame 6 to ensure that the axis of the product 4 on the imported conveying unit is collinear with the axis of the winding module 2.

[0076] The import limiting unit includes: at least one support frame 7 set above the conveyor frame 6, the support frame 7 is provided with a pressing cylinder 8, and the movable end of the pressing cylinder 8 is provided with a pressing roller 9; in use, the pressing cylinder 8 drives the pressing roller 9 to move, which can limit the product 4 between the pressing roller 9 and the conveyor roller 5.

[0077] A side-push cylinder 10 is installed on one side of the conveyor frame 6. The movable end of the side-push cylinder 10 is equipped with a side-push roller 11. A movable frame 12 is slidably installed on the other side of the conveyor frame 6. The movable frame 12 is also equipped with a side-push roller 11. In use, according to the size of the product 4, the movable frame 12 is manually moved to the designated position and fixed. Then, the side-push cylinder 10 drives the side-push roller 11 to move, limiting the product 4 between the two side-push rollers 11. Alternatively, side-push cylinders 10 are installed on both sides of the conveyor frame 6. In use, according to the size of the product 4, the side-push cylinders 10 on both sides are controlled to move synchronously to limit the product 4.

[0078] The first sensor is positioned close to the winding module 2, for example, it can be positioned on the support frame 7 on the side close to the winding module 2 or on the conveyor frame 6;

[0079] Before winding, the product 4 is manually placed on multiple conveying rollers 5 of the inlet conveying unit. When the first sensor detects the head of the product 4, the controller controls the inlet limiting unit to operate. Specifically, the solenoid valve of the pressing cylinder 8 of the inlet limiting unit is energized, and the pressing cylinder 8 drives the pressing roller 9 mounted on it to move downward. After moving downward, it stops moving after contacting the product 4. Then, the solenoid valve of the side pushing cylinder 10 of the inlet limiting unit is energized, and the side pushing cylinder 10 drives the side pushing roller 11 mounted on it to move closer to the product 4. When the product 4 contacts the side pushing rollers 11 on both sides, it stops moving. Thus, the vertical position of the product 4 is limited by the pressing roller 9 and the conveying roller 5, and the lateral position of the product 4 is limited by the side pushing rollers 11 on both sides. Therefore, when conveying the product 4, it can move along the designated path. During the winding process, the axis of the product 4 can be collinear with the axis of the winding module 2, so that the force of the tape winding the product 4 is more uniform.

[0080] After the inlet limiting unit limits product 4, the stepper motor starts running. The controller sets the running time based on the running speed and position of the stepper motor in the inlet conveying unit. When the set running time is reached, the stepper motor stops, and the winding module 2 runs. At this time, the head of product 4 is located at the winding position of the winding module 2, which is the initial winding position of product 4. The winding module 2 first winds and fixes the head of product 4 to complete the initial winding action. The purpose is to fix the tape to the head of product 4. Then, the controller controls the inlet conveying unit to convey product 4 at the first set conveying speed. At the same time, the winding module 2 winds the tape onto product 4 at the set winding speed. The first set conveying speed matches the set winding speed to ensure the consistency of the winding spacing.

[0081] like Figures 5-7 As shown, in one embodiment, the winding module 2 includes:

[0082] A ring-shaped rotating unit is provided with a tape roll 13;

[0083] The clamping unit is used to clamp the movable end of the tape roll 13 when the product 4 is conveyed to the initial winding position. At the same time, the ring rotating unit drives the tape roll 13 to rotate at a set angle, and then releases the clamping of the movable end of the tape roll 13.

[0084] After the initial wrapping action is completed on product 4, under the control strategy set by the controller, the tape is wrapped onto product 4 by the ring rotating unit at a set wrapping speed;

[0085] After the tape is wrapped around product 4, the cutting unit first clamps the tape using the clamping unit, and then cuts the tape using the cutting unit.

[0086] The clamping unit includes a clamping cylinder 14 and a clamping member 15 disposed at the movable end of the clamping cylinder 14; the shearing unit includes a shearing cylinder 16 and a shearing member 17 disposed at the movable end of the shearing cylinder 16; both the clamping unit and the shearing unit are mounted on the frame of the winding module 2 via a moving cylinder 18, and the moving cylinder 18 can drive the clamping unit and the shearing unit to move along the axial direction of the tape roll 13.

[0087] like Figure 6 As shown, this is the initial position of the tape roll 13. The movable end of the tape roll 13 is clamped by the clamping member 15 of the clamping unit. When the product 4 is conveyed to the initial winding position, that is, when the head of the product 4 reaches the winding position of the winding module 2, the tape roll 13 is rotated by a set angle through the ring rotating unit. The set angle can be set to greater than 180 degrees, preferably 270 degrees. After rotating by the set angle, the tape can initially wrap the head of the product 4 to fix the tape to the product 4 and complete the initial winding action. Then, the movable end of the tape roll 13 is released from clamping, and the clamping unit is retracted by the moving cylinder 18 without affecting the tape winding. Then, under the set control strategy of the controller, the winding module 2 wraps the tape on the product 4 at a set winding speed. At the same time, the inlet conveying unit conveys the product 4 at a first set conveying speed. The first set conveying speed matches the set winding speed to ensure the consistency of the winding spacing.

[0088] After the tape is finished wrapping, tape roll 13 returns to its initial position, as shown below. Figure 6 At the indicated position, the solenoid valve of the clamping cylinder 14 is energized, and the tape is clamped by the clamping member 15. Then, the solenoid valve of the cutting cylinder 16 is energized, and the tape is cut by the cutting member 17.

[0089] like Figure 5As shown, in one embodiment, the annular rotating unit includes a servo motor and an annular gear 19. The output end of the servo motor is provided with a drive gear that meshes with the annular gear 19. The annular gear 19 is provided with an annular plate 20, and the tape roll 13 is disposed on the annular plate 20.

[0090] The operating speed of the servo motor is the product of the set winding speed and the gear speed ratio; the formula is: ,in, For the operating speed of the servo motor, To set the winding speed, The speed ratio is the ratio of the rotational speed of the driving gear to the rotational speed of the ring gear 19.

[0091] During the winding process, the servo motor runs, driving the coaxial drive gear to rotate, which in turn drives the ring gear 19 and the ring plate 20 to rotate synchronously. At the same time, the conveyed product 4 can pass through the ring plate 20, and under the limiting action, the axis of the product 4 can be collinear with the axis of the ring plate 20. When the tape roll 13 moves circumferentially along the ring plate 20, the tape can be wound on the surface of the product 4 with a constant force, ensuring the adhesive force of the tape.

[0092] like Figures 2-4 As shown, in one embodiment, the export module 3 includes:

[0093] The outlet conveying unit is used to operate at a second set conveying speed when the first sensor detects the tail of product 4; wherein the second set conveying speed is the same as the first set conveying speed.

[0094] The second sensor is used to identify whether the head of product 4 has reached the exit conveyor unit, and also to identify whether product 4 has left the exit conveyor unit.

[0095] The exit limiting unit is used to limit the product 4 when the second sensor detects that the head of the product 4 has arrived at the exit conveying unit, so that the product 4 can move along a specified path.

[0096] The outlet conveying unit has the same structure as the inlet conveying unit, both including a stepper motor and multiple conveying rollers 5. The multiple conveying rollers 5 are rotatably mounted on the conveying frame 6. The stepper motor drives the multiple conveying rollers 5 to rotate synchronously through a gear transmission assembly. The conveying frame 6 is mounted on a lifting assembly, which is used to adjust the height of the conveying frame 6 to ensure that the axis of the product 4 on the outlet conveying unit is collinear with the axis of the winding module 2.

[0097] The structure of the outlet limiting unit and the inlet limiting unit are the same. Both include at least one support frame 7 set above the conveyor frame 6. The support frame 7 is equipped with a pressing cylinder 8. The movable end of the pressing cylinder 8 is equipped with a pressing roller 9. In use, the pressing cylinder 8 drives the pressing roller 9 to move, which can limit the product 4 between the pressing roller 9 and the conveyor roller 5.

[0098] A side-push cylinder 10 is installed on one side of the conveyor frame 6. The movable end of the side-push cylinder 10 is equipped with a side-push roller 11. A movable frame 12 is slidably installed on the other side of the conveyor frame 6. The movable frame 12 is also equipped with a side-push roller 11. In use, according to the size of the product 4, the movable frame 12 is manually moved to the designated position and fixed. Then, the side-push cylinder 10 drives the side-push roller 11 to move, limiting the product 4 between the two side-push rollers 11. Alternatively, side-push cylinders 10 are installed on both sides of the conveyor frame 6. In use, according to the size of the product 4, the side-push cylinders 10 on both sides are controlled to move synchronously to limit the product 4.

[0099] The second sensor is located away from the winding module 2, for example, it can be located on the support frame 7 on the side away from the winding module 2 or on the conveyor frame 6.

[0100] The exit module 3 works in conjunction with the inlet module 1 and the winding module 2. Specifically, when the inlet module 1 detects the tail of the product 4, it triggers a delay to allow the tail of the product 4 to reach the end of the tape winding (i.e., at the end of the winding stage, the tape roll 13 needs to return to the initial position, so the tail of the product 4 will stay at the winding position of the winding module 2, temporarily stopping the conveying of the product 4 until the tape roll 13 returns to the initial position and the tape is cut, then the conveying of the product 4 will continue). This allows the tape to wrap around the tail of the product 4, while controlling the operation of the exit module 3. After the tape has finished wrapping the tail of the product 4, it clamps and cuts the tape. When the exit module 3 is running, if the head of the product 4 is detected, the product 4 is limited, causing the product 4 to move along a specified path and be conveyed away from the winding module 2. The second set conveying speed of the exit module 3 is consistent with the first set conveying speed of the inlet module 1 to ensure that the conveying speed of the product 4 is stable.

[0101] When the second sensor of the exit module 3 detects that product 4 has left the exit conveyor unit, the inlet module 1, the winding module 2 and the exit module 3 stop operating and return to the initialization state. Personnel can then remove product 4 after the tape has been wrapped.

[0102] like Figure 1 As shown, in one embodiment, it further includes:

[0103] The alarm module is used to issue an alarm prompt when an abnormality occurs in the inlet module 1, winding module 2 or outlet module 3;

[0104] The visualization module is used for human-computer interaction and also for monitoring the operation of the inlet module 1, winding module 2 and outlet module 3.

[0105] The alarm module provides alerts for safety and malfunctions in the entire system. These alerts are displayed on the visualization module to remind personnel to inspect the system. The visualization module uses a touchscreen to monitor the entire system operation and allows for human-machine interaction, such as inputting or setting operating parameters, making operation more intelligent and improving work efficiency.

[0106] In one embodiment, the setting control strategy includes: determining a first set conveying speed, a second set conveying speed, and a set winding speed based on the set coordination relationship between the inlet module 1, the winding module 2, and the outlet module 3;

[0107] The set matching relationship is such that when the tape is wound, the ratio of the first set conveying speed to the set winding speed and the ratio of the second set conveying speed to the set winding speed both satisfy the set values.

[0108] In this embodiment, the control strategy is set to apply to product 4 with a circular cross-section, and also to product 4 with a non-circular cross-section.

[0109] Specifically, for example, the running speed of the stepper motor of the inlet module 1 can be preset according to actual needs to obtain the first preset conveying speed. Then, the preset winding speed of the winding module 2 and the second preset conveying speed of the outlet module 3 are determined according to the first preset conveying speed. The running speed of the servo motor of the winding module 2 can be obtained by setting the winding speed, and the running speed of the stepper motor of the outlet module 3 can be obtained by setting the second preset conveying speed.

[0110] The matching relationship is set as needed so that the inlet module 1 and outlet module 3 can work together with the winding module 2 to ensure the accuracy of the winding spacing.

[0111] In one embodiment, the setting control strategy further includes:

[0112] When the cross-section of product 4 is a non-circular cross-section, a 3D digital model of product 4 is obtained in advance;

[0113] A 3D laser contour scanner can be set at the beginning of the import module 1 to scan the entire product 4 before it enters the winding module 2, thereby obtaining the 3D point cloud data of the product 4 and thus obtaining a 3D digital model.

[0114] Based on the 3D digital model of product 4 and the set winding spacing of the tape, the winding path is planned so that the center line of the tape is perpendicular to the normal vector of the surface of product 4.

[0115] Based on the curvature changes of multiple path points along the winding path, the set winding speed corresponding to each path point is determined.

[0116] In this embodiment, the focus is on product 4 with a non-circular cross section. The winding path is actually a time-parameterized motion trajectory, which is multiple path points generated on the surface of the 3D digital model of product 4, and each path point corresponds to a timestamp and an ideal speed.

[0117] Specifically, based on the set wrapping spacing of the tape, multiple path points are generated on the surface of the 3D digital model of product 4, and for each path point, its three-dimensional coordinates and the surface normal vector at that point are obtained.

[0118] The ideal winding speed for each path point is dynamically allocated based on the curvature change of the winding path, i.e., the winding speed is set. For example, in high curvature areas (such as sharp corners), the turning radius of the winding path is small. If it rotates at high speed, the tape will drift due to centrifugal force, and the servo motor may produce errors due to insufficient acceleration and deceleration capabilities, resulting in tension fluctuations and uneven spacing.

[0119] Therefore, for areas with high curvature, it is necessary to reduce the conveying speed of product 4 and the winding speed of the tape in advance, and even set a brief pause at the point of maximum curvature to ensure the winding quality of the tape at the corner; for areas with low curvature (such as flat areas), higher conveying speed and winding speed can be used to improve efficiency.

[0120] Based on the winding path, a scan is performed once from the beginning to the end of the winding path and once from the end to the beginning, thereby determining the maximum speed that can be allowed at each path point;

[0121] The relationship between the winding speed and curvature at each path point on the winding path is as follows:

[0122]

[0123] in, Let be the maximum allowable winding speed at path point s. The maximum centripetal acceleration allowed for wrapping (set by the wrapping process requirements to ensure the tape adheres tightly to the product 4). Let be the radius of curvature of the fitted circle at path point s. Let be the curvature at path point s. When calculating the curvature, for each path point on the winding path, based on the path points adjacent to that path point before and after it, the formula is used... It is found that the radius of curvature is small in high curvature regions and large in low curvature regions;

[0124] In addition, the maximum winding speed allowed at each path point is also constrained by the maximum acceleration and deceleration that the servo motor can provide. Therefore, when determining the ideal winding speed at each path point, it is necessary to consider the constraints imposed by curvature and the servo motor.

[0125] Specifically, during the scan from the start to the end of the winding path (acceleration process simulation), it is necessary to calculate the speed achievable from the current path point with maximum acceleration to the next path point, i.e. This is used to simulate the speed achievable by accelerating to maximum capacity from the starting point of the winding path. For the previous path point At maximum acceleration Accelerate to the current path point The speed that can be achieved at that location For the previous path point The achievable speed calculated at that location. path point and waypoints The arc length between;

[0126] The scanning process from the end point to the starting point of the winding path (deceleration simulation) simulates the required speed for maximum deceleration starting from the current path point. This speed ensures a safe deceleration rate before reaching dangerous path points (e.g., high curvature areas), guaranteeing the winding effect. The formula is: ,in, To be able to start from the current path point Safely decelerate to the next waypoint The required speed For the next path point The required speed calculated at that point represents the target speed during the deceleration process. This is the maximum permissible deceleration (i.e., negative acceleration), which is usually taken as its absolute value. The direction of deceleration is implicitly included in the formula. For the current path point With the next waypoint The arc length between;

[0127] Then, the set winding speed for each path point is determined using the following formula:

[0128]

[0129] in, Set the winding speed at each path point. To find the minimum value function, This indicates a dynamic constraint on the winding speed, meaning the winding speed cannot exceed the acceleration capability of the servo motor. This indicates a safety constraint on the winding speed, meaning the winding speed cannot exceed the speed allowed by the servo motor's deceleration capability, to ensure safe winding and to stop winding. This indicates the process constraint for setting the winding speed, meaning that the setting of the winding speed cannot exceed the maximum winding speed allowed by the path point itself.

[0130] Once the winding speed is set, the first and second set conveying speeds can be determined based on the condition that the ratio of the first set conveying speed (second set conveying speed) to the set winding speed meets the set value.

[0131] By using the above-mentioned method for determining the winding speed, the winding efficiency can be guaranteed, the stability and accuracy of the winding can be improved, and the quality and efficiency of tape winding for non-circular cross-section product 4 can be guaranteed.

[0132] When the cross-section of product 4 is non-circular, the specific winding process is as follows: product 4 is scanned and a 3D digital model is obtained. Personnel set process parameters such as the set winding spacing, set winding tension, maximum conveying speed of inlet module 1 and outlet module 3, and maximum winding speed of winding module 2 through the visualization module. Then, path planning is performed to generate a winding path containing time, position, speed, and acceleration information. The controller controls inlet module 1, outlet module 3, and winding module 2 according to the winding path. Throughout the process, the first set conveying speed of inlet module 1, the second set conveying speed of outlet module 3, and the set winding speed of winding module 2 dynamically change according to the curvature of the winding path, but always ensures that the ratio of the first set conveying speed to the set winding speed meets the set value, and the ratio of the second set conveying speed to the set winding speed also meets the set value, thereby ensuring that the winding spacing meets the set winding spacing.

[0133] like Figure 8 As shown, the present invention also provides an electronic control method for automatically wrapping EVA tape, comprising:

[0134] S1. Place product 4 on the inlet conveyor unit of inlet module 1;

[0135] S2. Enter the corresponding product parameters in the visualization module;

[0136] S3. Based on product parameter 4, import module 1, winding module 2 and export module 3 enter the initialization state;

[0137] S4. In automatic mode, inlet module 1, winding module 2 and outlet module 3 start to run automatically.

[0138] S5. After the tape is wrapped, the inlet module 1, the wrapping module 2 and the outlet module 3 stop running and return to the initialization state.

[0139] Product 4 is EVA foam. It is placed on a metal rod and then on the inlet conveyor unit of inlet module 1. Then, the corresponding parameters of product 4, such as the material and shape of product 4, are input through the visualization module. The winding parameters corresponding to product 4 are then retrieved for winding. Then, the operator switches to automatic mode through the visualization module and presses the start button. Inlet module 1, winding module 2, and outlet module 3 enter the initialization state. That is, each module moves to the initial position according to the parameters of product 4. In automatic mode, the controller can automatically control the operation of inlet module 1, winding module 2, and outlet module 3 to complete the tape winding work through the control strategy set by the controller. After the current product 4 is wound, inlet module 1, winding module 2, and outlet module 3 stop running and return to the initialization state to prepare for the winding of the next product 4.

[0140] In one embodiment, the inlet module 1, the winding module 2, and the outlet module 3 begin to operate automatically, including:

[0141] When the import module 1 detects product 4 on it, it limits product 4, causing product 4 to move along the specified path and be conveyed to the winding module 2;

[0142] When product 4 is conveyed to the initial winding position, the conveying stops and the tape roll 13 is rotated at a set angle by the winding module 2 to initially wind the head of product 4.

[0143] Then, under the control strategy set by the controller, the import module 1 and the winding module 2 work together to wrap the product 4 with tape;

[0144] When the import module 1 detects the tail of product 4, it triggers a delay to allow the tail of product 4 to reach the end of the tape winding, so that the tape can wrap around the tail of product 4. At the same time, it controls the operation of the export module 3. After the tape has finished wrapping the tail of product 4, it clamps and cuts the tape. When the export module 3 is running, if the head of product 4 is detected, it limits product 4, causing product 4 to move along a specified path and be conveyed away from the winding module 2.

[0145] When the exit module 3 detects that product 4 has left the exit conveyor unit, the inlet module 1, winding module 2 and exit module 3 stop operating and return to the initialization state.

[0146] The controller automatically matches and operates the inlet module 1, winding module 2, and outlet module 3, enabling automatic tape winding. This ensures that the tape is evenly wound in a spiral shape onto product 4 during its movement, keeping the overlap and spacing error within 0.5mm to guarantee uniformity. Furthermore, as product 4 passes through winding module 2, the tape roll 13 on it rotates in a circular motion, further ensuring even tape winding. This automatic control of the controller allows inlet module 1, winding module 2, and outlet module 3 to work collaboratively, reducing the workload for manual labor.

[0147] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An electronic control system for automatically wrapping EVA tape, characterized in that, include: The inlet module, winding module, and outlet module are set sequentially. The import module is used to convey the product to the winding module at a first set conveying speed; The winding module is used to wrap tape around the product at a set winding speed; The outlet module is used to convey products at a second set conveying speed; A controller is used to control the inlet module, winding module, and outlet module according to a set control strategy; The import module includes: The first sensor is used to identify whether there is a product on the inlet module at the beginning of the winding stage, and to identify the tail of the product at the end of the winding stage. The import limiting unit is used to limit the product when the first sensor detects that there is a product on the import module, so that the product can move along a specified path; After limiting the product, the imported conveying unit transports the product to the winding module. When the product is transported to the initial winding position, the conveying stops. After the winding module completes the initial winding action, the imported conveying unit transports the product at the first set conveying speed under the control strategy set by the controller. The winding module includes: A ring-shaped rotating unit with a roll of tape on it; The clamping unit is used to clamp the movable end of the tape roll when the product is conveyed to the initial winding position. At the same time, the ring rotating unit drives the tape roll to rotate at a set angle, and then the movable end of the tape roll is released from clamping. After the initial wrapping action is completed on the product, under the control strategy set by the controller, the tape is wrapped around the product at a set wrapping speed through the ring rotating unit; After the tape is wrapped around the product, the cutting unit first clamps the tape using the clamping unit, and then cuts the tape using the cutting unit. The set control strategy includes: determining a first set conveying speed, a second set conveying speed, and a set winding speed based on the set coordination relationship between the inlet module, the winding module, and the outlet module; The set matching relationship is such that when the tape is wound, the ratio of the first set conveying speed to the set winding speed and the ratio of the second set conveying speed to the set winding speed both satisfy the set values. The set control strategy also includes: When the product has a non-circular cross-section, a 3D digital model of the product is obtained in advance. Based on the product's 3D digital model and the tape's set winding spacing, plan the winding path so that the tape's centerline is perpendicular to the product's surface normal vector; Based on the curvature changes of multiple path points along the winding path, the set winding speed corresponding to each path point is determined.

2. The electronic control system for automatic EVA tape wrapping according to claim 1, characterized in that, The export module includes: An outlet conveying unit is used to operate at a second set conveying speed when the first sensor detects the tail of the product; wherein the second set conveying speed is the same as the first set conveying speed. The second sensor is used to identify whether the head of the product has reached the exit conveyor unit, and also to identify whether the product has left the exit conveyor unit. The exit limit unit is used to limit the product when the second sensor detects that the head of the product has arrived at the exit conveyor unit, so that the product can move along a specified path.

3. The electronic control system for automatic EVA tape wrapping according to claim 1, characterized in that, The annular rotating unit includes a servo motor and an annular gear. The output end of the servo motor is provided with a drive gear that meshes with the annular gear. The annular gear is provided with an annular plate, and the tape roll is disposed on the annular plate. The operating speed of the servo motor is the product of the set winding speed and the gear speed ratio.

4. The electronic control system for automatic EVA tape wrapping according to claim 1, characterized in that, Also includes: The alarm module is used to issue an alarm when an abnormality occurs in the inlet module, winding module, or outlet module; The visualization module is used for human-computer interaction and also for monitoring the operation of the inlet module, winding module, and outlet module.

5. An electronic control method for automatically wrapping EVA tape, applied to the electronic control system for automatically wrapping EVA tape as described in any one of claims 1-4, characterized in that, include: Place the product on the inlet conveyor unit of the inlet module; Enter the corresponding product parameters in the visualization module; Based on the product parameters, the import module, winding module, and export module enter the initialization state; In automatic mode, the inlet module, winding module, and outlet module begin to operate automatically; After the tape is wrapped, the inlet module, wrapping module, and outlet module stop operating and return to the initialization state.

6. The electronic control method for automatic EVA tape wrapping according to claim 5, characterized in that, The import module, winding module, and export module begin automatic operation, including: When the import module detects a product on it, it limits the product, causing the product to move along a designated path and be conveyed to the winding module. When the product is conveyed to the initial winding position, the conveying stops, and the winding module drives the tape roll to rotate at a set angle to initially wind the head of the product. Then, under the control strategy set by the controller, the import module and the winding module work together to wrap the product with tape; When the import module detects the tail of the product, it triggers a delay to allow the tail of the product to reach the end of the tape winding, so that the tape can wrap around the tail of the product. At the same time, it controls the operation of the export module. After the tape has finished wrapping the tail of the product, it clamps and cuts the tape. When the export module is running, if it detects the head of the product, it limits the product and makes the product move along a specified path and be conveyed away from the winding module. When the export module detects that a product has left the export conveyor unit, the import module, winding module, and export module stop operating and return to the initialization state.

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