Self-adaptive film covering packaging machine based on double-cam dynamic switching and control method

Abstract

The invention relates to the technical field of packaging machinery, and discloses a self-adaptive film covering packaging machine based on double-cam dynamic switching and a control method, and the packaging machine realizes self-adaptive control through a cam control system arranged in a cutting controller. The system comprises: 1, a dynamic energy optimization strategy module for generating a customized cam curve with optimal time or energy as a target according to a product size and a real-time state of a production line; the dynamic transition cooperative control module calculates the optimal transition track of multi-axis cooperation during product switching, and smooth and impact-free state switching is achieved. According to the method, the information of the next product is detected in advance, the corrected predictive parameter packet is generated in parallel, and smooth switching and accurate cutting are performed by applying the parameter packet when the product is handed over, so that the production efficiency and the operation smoothness are remarkably improved, and the long-term processing precision is ensured through adaptive learning; and the optimal balance between the production takt and the energy consumption is realized.

Description

Technical Field

[0001] This invention relates to the field of packaging machinery technology, specifically to an adaptive film-coating packaging machine and control method based on dual-cam dynamic switching. Background Technology

[0002] Pillow-type laminating packaging machines are widely used in automated production lines, capable of high-speed, continuous film packaging of block and irregularly shaped materials. In traditional, large-scale production models of single-specification products, these machines achieve extremely high production efficiency and stability through precise mechanical cams or fixed electronic cam programs preset for specific products. However, as market demand shifts towards flexible, customized, and multi-variety, small-batch production models, the inherent limitations of traditional packaging machines in handling continuously changing product flows of varying specifications are becoming increasingly apparent.

[0003] In existing packaging machines, switching between production tasks for different product sizes typically requires significant downtime for extensive mechanical adjustments and software parameter reloading. This process is time-consuming and labor-intensive, severely impacting production continuity and overall efficiency. Even some more advanced machines employing servo drives and electronic cam control often perform a hard switch between several preset parameter libraries when changing product specifications. This abrupt parameter switching causes discontinuities in speed and acceleration at the motion control level, resulting in significant shocks and vibrations to the mechanical system. This not only affects packaging and cutting accuracy but may also accelerate equipment wear and reduce its lifespan. Furthermore, the control strategies of these systems are usually fixed, designed solely to maximize production speed, lacking the intelligence to dynamically adjust operating strategies based on the urgency of real-time production cycles (e.g., switching to a lower-energy-consumption mode when tasks are not urgent). Moreover, most existing control systems operate in an open-loop manner, unable to monitor and compensate for control deviations caused by factors such as wear, changes in lubrication conditions, or fluctuations in the physical properties of packaging materials due to long-term mechanical operation, making it difficult to guarantee long-term processing accuracy. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an adaptive film-coating packaging machine and control method based on dual-cam dynamic switching. This solves the problems that existing film-coating packaging machines typically suffer from when handling product flows with continuously changing dimensions. These problems include slow adjustment response, large switching impact, and difficulty in balancing energy consumption and efficiency, resulting in limited overall packaging efficiency and operational smoothness.

[0005] To achieve the above objectives, the first aspect of the present invention provides an adaptive film-coating packaging machine based on dual-cam dynamic switching, which aims to solve the above-mentioned technical problems. Its structure and control system can realize fast, smooth and efficient adaptive packaging of products of different sizes.

[0006] To achieve the above objectives, the technical solution provided by the present invention includes: a housing, and a material handling conveyor, a tripod conveyor, an edge-sealing conveyor, and a cutting conveyor assembly disposed on the housing. The material handling conveyor is equipped with sensors for detecting the physical dimensional information of the product and transmitting it to the cutting controller.

[0007] A blade holder is slidably connected to the middle of the housing, and a cutting component is mounted on the blade holder. The blade controller has an internal cam control system. Based on the product data transmitted from the sensors, the cam control system generates a corresponding cam curve, and accordingly drives the movement trajectory of the cutting component via a telescopic cylinder and a servo motor.

[0008] Specifically, the cam control system includes three mutually cooperating functional modules:

[0009] Dynamic Energy Optimization Strategy Module: This module generates the cam curve controlling the cutting action. It first assesses the overall production line status, including at least the expected arrival time of subsequent products. Then, based on the length of the next product and the overall production line status, the module selects the appropriate cam curve from a preset set of optimization targets J. time J energy Choose a cost function J. Finally, generate the optimal cam curve C by solving the following optimization problem. * :

[0010]

[0011] Where argmin is a mathematical operator; C represents a candidate cam curve; J(C) represents the cost function for evaluating the merits of candidate cam curve C; C * This represents the optimal cam curve that minimizes the cost function J(C).

[0012] Dynamic Transition Coordination Control Module: This module ensures a smooth transition between multiple motion axes when processing the current product and switching to the next. When a state transition is triggered, this module obtains the parameter package S of the current execution state. curr And predictive parameter package S for the next product next The parameter package is a vector containing state parameters such as target position, velocity, and acceleration of each drive shaft, tripod conveyor, edge banding conveyor, and tool holder drive mechanism. This module calculates the parameter difference ΔS = S between the two. next-S curr Calculate and execute in real time a transition time period [t0, t] f The optimal transition curve S(t) for multi-axis coordination within the [ ], such that S(t0) = S curr And S(t) f ) = S next At the same time, it minimizes the jerk or total energy consumption during the transition process, thereby achieving a smooth and shock-free motion state transition.

[0013] Parameter Package Adaptive Correction Module: This module is used to implement closed-loop feedback regulation of the system and dynamically correct control parameters. After one or more packaging cycles are completed, this module collects process data, the actual torque curves of the tripod conveyor, the sealing conveyor, and the servo motor 2 in the cutting conveyor assembly (or the tension sensor readings of the packaging film), and generates a performance correction factor α based on this data. When generating a predictive parameter package for the next product, this module uses this performance correction factor as an input variable to adjust at least one control parameter P in the predictive parameter package. pred Dynamic correction is performed to obtain the corrected control parameter P. corrected :

[0014] P corrected =f(P pred ,α);

[0015] A specific example of linear correction is as follows:

[0016] P corrected =P pred ×(1+α);

[0017] Where: P pred α is a predictive control parameter to be corrected; α is a performance correction factor calculated based on actual process data, which is a dimensionless scalar value; f(·) is the correction function, which is the control parameter that will be actually applied in the next packaging cycle.

[0018] Through this correction process, the control accuracy of the system can be continuously optimized.

[0019] The second aspect of the present invention provides a control method for an adaptive film-coating packaging machine based on dynamic switching of dual cams. By executing the method, the technical effects of the above-mentioned device can be achieved.

[0020] The control method includes the following steps: Step S1, the physical size information of the current product is detected and obtained by the sensor, and the cutting controller establishes a first set of motion control parameters for the current product, so that the packaging machine is in the execution state of processing the current product;

[0021] Step S2: While processing the current product, the cutting controller uses the sensor to detect and obtain the physical size information of the next product in advance, and generates a predictive parameter package containing a customized cam curve in parallel and predictively for the next product, so that the packaging machine enters the preparation state.

[0022] Step S3: When the current product is transported to the preset handover position, a state switch is triggered, and the predictive parameter package is applied to each relevant drive shaft of the packaging machine to control the subsequent packaging process of the next product.

[0023] Step S4: The cutting controller drives the blade holder and the cutting assembly to complete the film-cutting action of the next product according to the cam curve in the predictive parameter package.

[0024] The above steps are executed in conjunction with the module functions in the cam control system. Specifically, in step S2, the step of generating the customized cam curve is executed by the dynamic energy optimization strategy module. This module evaluates the overall state of the production line and, based on the physical size information of the next product and the overall state of the production line, dynamically selects a motion profile with time optimization or energy optimization as the objective to generate the customized cam curve.

[0025] Similarly, in step S2, the step of generating the predictive parameter package for the next product further includes a dynamic correction process executed by the parameter package adaptive correction module. This module uses a performance correction factor generated based on process data collected in the preceding packaging cycle as an input variable to correct at least one control parameter in the predictive parameter package.

[0026] In step S3, the specific process of state switching is executed by the dynamic transition cooperative control module. This module obtains the parameter difference between the first motion control parameter set in the current execution state and the predictive parameter package in the preparatory state, and calculates and executes an optimal transition curve for multi-axis cooperation in real time based on the difference, so as to drive the material handling conveyor, tripod conveyor, edge sealing conveyor and the tool holder to smoothly transition to the new motion state defined by the predictive parameter package.

[0027] The present invention, through the above-mentioned device and method, constructs a control system that can predict proactively, adaptively correct, and achieve smooth switching, which significantly improves the automation level, packaging efficiency, and operational stability of packaging machines when dealing with continuously changing non-standard products.

[0028] In summary, the present invention has at least one of the following beneficial technical effects:

[0029] 1. This invention uses sensors to acquire the physical dimensions of the next product in advance. At the moment of product switching, the dynamic transition coordination control module calculates and executes an optimal transition curve for multi-axis coordination based on the differences between the current and next product parameter packages. This allows the drive shafts of the material handling conveyor, tripod conveyor, edge sealing conveyor, and knife holder to smoothly and without impact transition to the new motion state, avoiding deceleration, stoppage, or mechanical vibration caused by product switching. Thus, without sacrificing stability, it significantly improves the overall packaging speed.

[0030] 2. By setting an adaptive correction module for the parameter package, this invention can collect actual process data from the preceding packaging cycle and compare it with theoretical values ​​to generate a performance correction factor. This factor is used to dynamically correct the predictive parameter package for the next product, effectively compensating for control deviations caused by factors such as mechanical wear, environmental changes, or fluctuations in material properties. This enables the system to have self-learning and optimization capabilities, ensuring the continuous accuracy of the lamination and cutting action.

[0031] 3. The dynamic energy optimization strategy module can assess the overall status of the production line and, in conjunction with the length information of the next product, dynamically select a motion profile with optimal time or optimal energy to generate a cam curve. This means that when production tasks are not urgent, the equipment can automatically switch to a lower energy consumption operating mode, while when it is necessary to increase production capacity, it can switch to the fastest mode, achieving an intelligent balance between production cycle and energy efficiency, and improving the economic applicability of the equipment. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0033] Figure 2 This is a schematic diagram of the tripod conveyor of the present invention;

[0034] Figure 3 This is a schematic diagram of the outer shell structure of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of the cutting and conveying assembly of the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of the reset component of the present invention;

[0037] Figure 6 This is a schematic diagram of the road structure of the present invention.

[0038] Legend:

[0039] 1. Outer casing; 2. Tripod conveyor; 3. Material handling conveyor; 4. Edge banding conveyor; 5. Cutting controller; 6. Rotating roller; 7. Sensor; 8. Frame; 9. Conveyor belt; 10. Knife holder; 11. Round rod; 12. Telescopic cylinder; 13. Cutting knife; 14. Drive roller; 15. Servo motor one; 16. Servo motor two; 17. Connecting arm one; 18. Movable roller; 19. Adjusting roller; 20. Fixing block; 21. Connecting rod; 22. Slider; 23. Compression spring; 24. Connecting arm two; 25. Knife plate; 26. Lead screw; 27. Limiting rod. Detailed Implementation

[0040] The following combination Figure 1 -Appendix Figure 6 The present invention will be further described in detail below.

[0041] This invention provides a control method for an adaptive laminating packaging machine based on dual-cam dynamic switching. This method is executed by a cam control system installed in the cutter controller 5. Logically, this system may include a dynamic energy optimization strategy module, a dynamic transition coordination control module, and a parameter package adaptive correction module. The method may include the following steps:

[0042] Step S1: The physical size information of the current product is detected and obtained by the sensor 7, and the first motion control parameter set is established for the current product by the knife-cutting controller 5, so that the packaging machine is in the execution state of processing the current product;

[0043] Step S2: While processing the current product, the knife-cutting controller 5 uses the sensor 7 to detect and obtain the physical size information of the next product in advance, and generates a predictive parameter package containing a customized cam curve in parallel and predictively for the next product, so that the packaging machine enters the preparation state.

[0044] Step S3: When the current product is conveyed to the preset handover position, a state switch is triggered, and the predictive parameter package is applied to each relevant drive shaft of the packaging machine to control the subsequent packaging process of the next product.

[0045] Step S4: The blade controller 5 drives the blade holder 10 and the cutting assembly to complete the film cutting action of the next product according to the cam curve in the predictive parameter package.

[0046] In step S2, the process of generating a predictive parameter package for the next product is specifically completed collaboratively by the dynamic energy optimization strategy module and the parameter package adaptive correction module.

[0047] First, the dynamic energy optimization strategy module receives the physical dimensions of the next product and the global production line status. The global production line status includes at least the expected arrival time information of subsequent products. Based on the above inputs, this module generates an optimal cam curve C by solving the following optimization problem. * :

[0048]

[0049] Where: C represents a candidate cam curve, which defines the functional relationship between the displacement of the cutting component and time or the spindle angle; J(C) is the cost function for evaluating the candidate cam curve C, and its specific form depends on the global state of the production line, in the time-optimal cost function J. time With the energy-optimal cost function J energy Choose between them; C * This represents the optimal cam curve that minimizes the cost function J(C); J time The evaluation metric is the total time required to complete one packaging operation; J energy Using the total energy consumption of the drive motor during one packaging operation as the evaluation index, it can be expressed as: Where P(t) is the instantaneous power driving the servo motor 16, and t0 and t1 are the instantaneous power driving the servo motor 16. f These represent the start and end times of the action, respectively.

[0050] During the generation of the predictive parameter package, the predictive parameter package adaptive correction module further corrects the control parameters within the package. This module collects process data from one or more preceding package loops, such as the actual torque curve of servo motor II 16, and generates a performance correction factor α based on the difference between this data and the theoretical prediction value. Subsequently, this module uses the following correction function to adjust at least one control parameter P in the predictive parameter package. pred Make corrections to obtain the corrected control parameter P. corrected :

[0051] P corrected =f(P pred ,α);

[0052] A specific example of linear correction is as follows:

[0053] P corrected =P pred ×(1+α);

[0054] Where: P pred α is a predictive control parameter to be corrected; α is a performance correction factor, a dimensionless scalar; f(·) is a preset correction function; P corrected These are the control parameters that will be applied to the next packaging cycle after modification;

[0055] In step S3, when a state transition is triggered, the dynamic transition coordination control module is invoked. This module obtains the parameter set S of the current execution state. curr With the predictive parameter package S in the preparatory state next To achieve a smooth transition from the current state to the new motion state for each drive axis, such as the material handling conveyor 2 and the tool holder 10, this module calculates a transition time period [t0, t1] for each axis that requires coordinated motion. f The trajectory within [ ]. One specific trajectory generation method is to plan the displacement p(t) using a fifth-order polynomial:

[0056] tp(t)=c0+c1t+c2t 2 +c3t 3 +c4t 4 +c5t 5 ;

[0057] Where: p(t) represents the displacement of the axis during the transition time; c0, c1, ..., c5 are obtained by solving the equations at the initial time t0 and the final time t5. f The displacement, velocity, and acceleration are all related to S curr and S next The polynomial coefficients are determined by the boundary conditions that correspond to the same value.

[0058] The trajectory generated by this method has continuous acceleration at the start and end points, thus ensuring that the driving torque does not change abruptly.

[0059] Finally, in step S4, the blade-cutting controller 5, based on the parameter package applied in step S3 and planned and corrected in step S2, controls each relevant drive shaft, especially the drive blade holder 10 and the cutting assembly, to precisely execute the optimal cam curve C. * The defined lamination and cutting action completes the packaging of the next product.

[0060] Please see the appendix Figure 1 -Appendix Figure 6 This invention discloses a control method for an adaptive laminating packaging machine based on dual-cam dynamic switching. The overall structure includes a housing 1, a material handling conveyor 2, a tripod conveyor 3, a sealing conveyor 4, and a cutting conveyor assembly. The cutting controller 5 controls the movement of the cutter holder 10 and the cutting assembly based on the product's physical dimensions detected by the sensor 7.

[0061] In one specific embodiment of the invention, the structure of the cutting and conveying assembly is further defined. The assembly includes a frame 8 fixedly connected to the middle of the housing 1. A drive roller 14 and an adjusting roller 19 are rotatably connected to the frame 8, and a movable roller 18 is slidably connected thereto. A servo motor 16 is fixedly connected to the outside of the frame 8, with its output end fixedly connected to the drive roller 14. A conveyor belt 9 is sequentially fitted around the outer periphery of the drive roller 14, the movable roller 18, and the adjusting roller 19. The servo motor 16 drives the drive roller 14 to rotate, thereby moving the conveyor belt 9 to transport the products to be packaged.

[0062] To ensure that the conveyor belt 9 maintains appropriate tension during operation, thereby guaranteeing the stability of material conveying, the cutting conveyor assembly also includes a reset component. This reset component is connected to the movable roller 18, providing it with a continuous force opposing the drive roller 14 and the adjusting roller 19, effectively tensioning the conveyor belt 9. In one specific embodiment, the reset component includes a fixed block 20 fixedly connected to the outside of the frame 8, with a connecting rod 21 fixed to the fixed block 20. A slider 22 is slidably sleeved on the outer periphery of the connecting rod 21 and connected to the bearing seat of the movable roller 18. A compression spring 23 is sleeved on the outer periphery of the connecting rod 21, with one end abutting against the fixed block 20 and the other end abutting against the slider 22. The spring force of the compression spring 23 pushes the slider 22 and the connected movable roller 18 to move, allowing the conveyor belt 9 to move together with the cutter holder 10, improving cutting accuracy while ensuring automatic tensioning of the conveyor belt 9.

[0063] The cutting assembly is installed in the middle of the blade holder 10. In one specific embodiment, the cutting assembly includes a round rod 11 fixedly connected to the blade holder 10. A cutter 13 and a blade plate 25 are slidably sleeved on the outer periphery of the round rod 11, with the cutter 13 positioned above the blade plate 25. Two telescopic cylinders 12 mounted on the outside of the blade holder 10 are rotatably connected to the cutter 13 and blade plate 25 via connecting arm 17 and connecting arm 24, respectively. When the cutting controller 5 issues a command, the two telescopic cylinders 12 independently extend and retract according to the generated cam curve, driving the cutter 13 and blade plate 25 to reciprocate up and down along the round rod 11, completing the cutting action of the packaging film.

[0064] To ensure the product remains stable on the conveyor belt 9 during the overall movement of the cutter holder 10, a rotating roller 6 is rotatably connected to the middle of the cutter holder 10. The conveyor belt 9 is also fitted around the outer periphery of the rotating roller 6. When the cutter holder 10 is driven by the servo motor 15 to move horizontally to follow the product, the rotating roller 6 moves accordingly and provides support for that section of the conveyor belt 9, preventing the product from falling or becoming unstable due to gaps between the cutter holder 10 and the front and rear conveying mechanisms, and improving cutting accuracy.

[0065] Please see the appendix Figure 6To further clarify the control principle involved in this invention, the internal implementation principle of the dynamic energy optimization strategy module in the cam control system will be described in detail below. This module is invoked in step S2 of the control method, and its core function is to generate a customized, optimal cam curve for the next product to be packaged.

[0066] In one specific embodiment, the execution process of the dynamic energy optimization strategy module may include the following steps:

[0067] Receive input information. This module receives the physical dimension information of the next product, such as length L, detected and transmitted by sensor 7, and simultaneously evaluates the overall production line status. The overall production line status is obtained by analyzing data transmitted from sensor 7 and upstream equipment, which includes at least the expected arrival time of one or more subsequent products or the spacing between products.

[0068] Selecting an optimization objective. This module selects from several preset optimization objectives based on the acquired global production line status. For example, the system can preset a product spacing threshold D. threshold If the distance between the current product and the next product is less than the threshold, the production line is determined to be in a time-sensitive state, and time optimization is selected as the target. Conversely, if the distance is greater than the threshold, the production line is determined to be in an energy-sensitive state, and energy optimization is selected as the target.

[0069] Solving for the optimal cam profile. This module generates the optimal cam profile C that satisfies the selected optimization objective by solving a constrained optimization problem. * The process is defined by the following formula:

[0070]

[0071] Where: C represents a candidate cam curve, which, in numerical calculations, defines the displacement function s(t) of the cutting component within one motion cycle; J(C) is the cost function for evaluating the candidate cam curve C, and its specific form is determined based on the selection; C * The optimal cam curve that minimizes the cost function J(C) will have its parameters fed into a predictive parameter package generated for the next product.

[0072] When time optimization is chosen as the objective, the cost function is J. time (C)=t f -t0 represents the total time T for completing one cutting action. The optimization objective is to find the displacement curve s(t) that minimizes T while satisfying the following physical constraints:

[0073] Maximum velocity constraint: |s′(t)|≤v max ;

[0074] Maximum acceleration constraint: |s″(t)|≤a max ;

[0075] Maximum jerk constraint: |s″′(t)|≤j max ;

[0076] Where v max a max and j max These are the maximum permissible speed, maximum acceleration, and maximum jerk of the mechanical system, respectively.

[0077] When energy optimization is chosen as the objective, the cost function is J. energy (C) represents the total energy consumption of the drive motor, such as servo motor 16, in completing one cutting action. Its expression is:

[0078]

[0079] Where: P(t) is the instantaneous power of the drive motor; ω(t) is the instantaneous angular velocity output by the motor, the value of which is proportional to the velocity s′(t) of the displacement curve; τ(t) is the instantaneous torque output by the motor. This torque is calculated based on the dynamic model of the system, and it is at least a function of the equivalent moment of inertia I of the motor rotor and load, the angular acceleration α(t) proportional to s″(t), and the damping torque such as friction of the system.

[0080] This optimization problem can be solved using known numerical optimization algorithms, such as sequential quadratic programming. The module's input is the product size and production line status, and its output is a specific, parameterized optimal cam curve C. * .

[0081] To further clarify the control principle involved in this invention, the internal implementation principle of the dynamic transition coordinated control module in the cam control system will be described in detail below. This module is called in step S3 of the control method, and its core function is to generate a coordinated motion transition trajectory for all relevant drive shafts when the packaging process of the current product ends and switches to the packaging process of the next product, so as to ensure a smooth transition of motion state.

[0082] In one specific embodiment, the execution process of the dynamic transition coordination control module may include the following steps:

[0083] Obtaining State Parameters. When a state transition is triggered, this module first obtains two key parameter sets: the first motion control parameter set for the current execution state, denoted as S. curr ; and a predictive parameter package, denoted as S, that has been planned and revised for the next product. nextEach parameter set is a state vector containing the target kinematic parameters, namely position, velocity, and acceleration, of all drive shafts that need to move in coordination, such as the material handling conveyor 2, tripod conveyor 3, edge banding conveyor 4, and tool holder 10.

[0084] Calculate the transition trajectory. This module calculates the transition trajectory based on the acquired initial state vector S. curr and target state vector S next For each drive shaft that requires coordinated motion, during the preset transition time period [t0, t...] f Within [the specified range], an independent trajectory is calculated. One specific trajectory generation method involves using a fifth-order polynomial to plan the displacement p(t) of the axis:

[0085] tp(t)=c0+c1t+c2t 2 +c3t 3 +c4t 4 +c5t 5 ;

[0086] Where: p(t) represents the displacement function of the drive shaft during the transition time; t is the transition time interval [t0, t1]. f The time variables within []; c0, c1, ..., c5 are polynomial coefficients determined by solving a set of linear equations.

[0087] This set of linear equations consists of the following six boundary conditions, which ensure that the transition trajectory seamlessly connects with the original motion state at the start and end points:

[0088] At the initial time t0:

[0089] Displacement: p(t0)=p curr ;

[0090] Velocity: p′(t0)=v curr ;

[0091] Acceleration: p″(t0)=a curr ;

[0092] At the termination time t f :

[0093] Displacement: p(t) f ) = p next ;

[0094] Velocity: p′(t) f ) = v next ;

[0095] Acceleration: p″(t f ) = a next ;

[0096] Where, p curr ,v curr ,a curr These are from the state vector S curr The initial position, velocity, and acceleration of the axis were extracted; p next ,v next ,a next These are from the state vector S next The target position, velocity, and acceleration of the axis are extracted.

[0097] Perform the transition motion. After calculating the polynomial coefficients of the transition trajectory for all relevant axes, the cutter controller 5 sends these trajectory parameters to the underlying servo drivers of each axis. The servo drivers then precisely control the motor motion accordingly, ensuring the entire system maintains a smooth transition during the transition time interval [t0, t...]. f Within, smoothly from S curr The defined state transition to S next The newly defined state. Because the fifth-order polynomial trajectory used can ensure the continuous acceleration at the start and end points, the force or torque required to drive the motion of each axis also changes continuously, avoiding mechanical shocks and vibrations caused by sudden acceleration changes.

[0098] To further clarify the control principle involved in this invention, the internal implementation principle of the parameter package adaptive correction module in the cam control system will be described in detail below. This module is called in step S2 of the control method. Its core function is to dynamically correct at least one control parameter in the parameter package based on the actual running data of the previous packaging cycle when generating a predictive parameter package for the next product, so as to form a parameter generation process with closed-loop feedback adjustment.

[0099] In one specific embodiment, the execution process of the parameter package adaptive correction module may include the following steps:

[0100] Acquire process data. In one or more preceding packaging cycles, this module acquires actual process data from relevant components of the packaging machine. This process data includes actual torque curves of at least one servo motor (e.g., servo motor II 16) selected from the feeding conveyor 2, tripod conveyor 3, sealing conveyor 4, and cutting conveyor assembly, or at least one reading from a packaging film tension sensor. This actual data reflects the system's performance under real load and operating conditions.

[0101] This module generates a performance correction factor. It compares the collected actual process data with the theoretical prediction data generated by the system's internal model and calculates a performance correction factor α based on the difference. Taking the torque of servo motor 216 as an example, the system calculates a theoretical torque curve based on the cam curve generated in the cycle and the system's dynamic model. Then, the module generates the correction factor α by comparing the differences between the actual torque curve and the theoretical torque curve, such as peak value difference, integral error, or root mean square error.

[0102] Adjust control parameters. This module takes the generated performance correction factor α as an input variable and adjusts at least one control parameter P in the predictive parameter package for the next product. pred Dynamic correction is performed to obtain the corrected control parameter P. corrected The correction process is defined by the following correction function:

[0103] P corrected =f(P pred ,α);

[0104] Where: P pred α is a predictive control parameter to be corrected, such as a feedforward compensation value in a servo drive, a gain parameter, or a friction coefficient parameter related to the system dynamics model; α is a performance correction factor, a dimensionless scalar whose sign and magnitude reflect the direction and degree of deviation between the prediction and the actual in the preceding loop; f(·) is a preset correction function that defines the specific correction algorithm; P corrected This is the revised control parameter that will be applied to the next packaging cycle; it will replace the original P parameter. pred It is written into the final predictive parameter package.

[0105] In one specific implementation, the correction function f(·) can be a linear multiplicative correction. This approach is used when the correction factor α reflects proportionality deviation.

[0106] P corrected =P pred ×(1+α);

[0107] Through this step, if the actual torque in the previous cycle consistently exceeds the theoretical torque, resulting in a positive α value, the system will correspondingly increase the relevant control parameters; conversely, it will decrease them. This iterative correction process allows the control system to gradually compensate for factors that are not precisely modeled, such as long-term wear of mechanical parts and changes in ambient temperature, thereby continuously ensuring the high-precision operation of the packaging machine.

[0108] The following is a detailed flowchart of a control method for an adaptive laminating packaging machine based on dual-cam dynamic switching, according to an embodiment of the present invention. This method is executed by the knife-cutting controller 5, which coordinates its internal cam control system and external mechanical components.

[0109] The specific implementation process of this method is as follows:

[0110] In step S1, when a product enters the detection area of ​​the feeding conveyor 2, the sensor 7 installed on the conveyor detects and acquires the physical size information of the product. This information is transmitted to the cutting controller 5. Based on this information, the cutting controller 5 establishes or calls a first motion control parameter set for the product. This parameter set defines the motion parameters of each drive shaft required for packaging this size product, such as the feeding conveyor 2, the tripod conveyor 3, and the sealing conveyor 4. At this time, the packaging machine is in the execution state of processing the product and begins to convey and perform preliminary packaging processing on the product.

[0111] In step S2, while the packaging machine is processing the current product, sensor 7 detects and acquires the physical size information of the next product. Upon receiving this new information, the cutting controller 5 generates a predictive parameter package for the next product in parallel and predictively. This process first invokes the dynamic energy optimization strategy module, which generates a customized optimal cam curve C based on the size of the next product and the evaluated global production line status. * Subsequently, the parameter package adaptive correction module is invoked. This module generates a performance correction factor α based on process data collected in the preceding packaging loop, such as the actual torque of servo motor 16, and adjusts at least one control parameter P in the predictive parameter package. pred The correction is then performed. Once this step is completed, a complete predictive parameter package containing the optimal cam curve and adaptive corrections is ready, at which point the packaging machine enters the standby state for the next product.

[0112] In step S3, when the currently processed product is conveyed on conveyor belt 9 to a preset handover position that indicates the near completion of its packaging process, the system triggers a state switch. At this time, the dynamic transition coordination control module is executed. This module acquires the first motion control parameter set (S) of the current execution state. curr ) and predictive parameter packages (S) that are already in preparation for the next product. nextBased on the differences between these two parameter sets, this module calculates and generates an optimal transition curve for multi-axis coordination in real time for all relevant drive axes, for example, through a fifth-order polynomial interpolation algorithm. The cutting controller 5 applies this transition curve to each relevant drive axis, driving them to smoothly and without impact transition from the motion state of processing the current product to a new motion state defined by the predictive parameter package for processing the next product.

[0113] In step S4, after the state transition is complete, the packaging machine is fully ready to process the next product in its new motion state. The knife-cutting controller 5 determines the optimal cam curve C based on the effective predictive parameter package. * The system precisely controls two telescopic cylinders 12, driving the cutting components on the cutter holder 10, including the cutter 13 and the blade 25, to complete the film-cutting action on the next product. Simultaneously, other drive shafts continue operating according to the settings in the new parameter package, completing the subsequent packaging process for that next product. Afterward, this next product becomes the new current product, and the system repeats the above steps in a loop.

[0114] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive laminating and packaging machine based on dual-cam dynamic switching, characterized in that, include: The outer shell (1), material handling conveyor (3), tripod conveyor (2), edge sealing conveyor (4) and conveyor belt (9) are connected in sequence. The tripod conveyor (2), the material handling conveyor (3) and the outer shell (1) are connected in sequence. The edge sealing conveyor (4) is located in the middle of the outer shell (1). One side of the tripod conveyor (2) is close to the other side of the edge sealing conveyor (4). A knife-cutting conveyor assembly is provided in the middle of the outer shell (1). One side of the knife-cutting conveyor assembly is close to the other side of the edge sealing conveyor (4). A sensor (7) is installed on the tripod conveyor (2) near the material handling conveyor (3) to detect and transmit the physical size information of the product. A blade holder (10) is slidably connected to the middle of the outer shell (1). A cutting assembly is installed in the middle of the blade holder (10). The blade cutting conveying assembly is connected to the blade holder (10) via a conveyor belt (9). A servo motor (15) is installed in the middle of the outer shell (1). A lead screw (26) is fixedly connected to the output end of the servo motor (15). A limit rod (27) is installed in the middle of the outer shell (1). The blade holder (10) is located on the outer periphery of the limit rod (27) and the lead screw (26) to control the movement of the blade holder (10). Two telescopic cylinders (12) are installed on the outer side of the blade holder (10). The output ends of the two telescopic cylinders (12) are rotatably connected to a connecting arm (17) and a connecting arm (24) respectively. The two telescopic cylinders (12) are connected to the cutting assembly via the connecting arm (17) and the connecting arm (24) respectively to adjust the movement trajectory of the cutting assembly according to the cam curve. A cutting controller (5) is provided on the outside of the outer shell (1), and a cam control system is provided inside the cutting controller (5). The cam control system is used to receive and process product data transmitted by the sensor (7) and generate corresponding cam curves to control the movement trajectory of the cutting component.

2. The adaptive film-coating packaging machine based on dual-cam dynamic switching according to claim 1, characterized in that, The cutting conveyor assembly includes a frame (8), which is fixedly connected to the middle of the outer shell (1). A drive roller (14) is rotatably connected to the middle of the frame (8), and an adjusting roller (19) is rotatably connected to the middle of the frame (8). A servo motor (16) is fixedly connected to the outside of the frame (8). The drive roller (14) is fixedly connected to the output end of the servo motor (16). A movable roller (18) is slidably connected to the middle of the frame (8). The conveyor belt (9) is sleeved on the outer periphery of the drive roller (14), the movable roller (18), and the adjusting roller (19). A reset assembly is installed on the outside of the frame (8). The movable roller (18) is connected to the reset assembly to keep the conveyor belt (9) in a taut state at all times.

3. The adaptive film-coating packaging machine based on dual-cam dynamic switching according to claim 1, characterized in that, The cutting assembly includes a round rod (11), which is fixedly connected to the middle of the blade holder (10). A cutter (13) and a blade plate (25) are slidably connected from top to bottom on the outer periphery of the round rod (11). A connecting arm one (17) and a connecting arm two (24) are rotatably connected to the ends of the cutter (13) and the blade plate (25), respectively, for cutting the film. A rotating roller (6) is rotatably connected to the middle of the blade holder (10). A conveyor belt (9) is sleeved on the outer periphery of the rotating roller (6) for pulling the conveyor belt (9) during the movement of the blade holder (10) to ensure that the material will not fall off the conveyor belt (9) due to excessive gap.

4. The adaptive film-coating packaging machine based on dual-cam dynamic switching according to claim 2, characterized in that, The reset assembly includes a fixed block (20), which is fixedly connected to the outside of the frame (8). A connecting rod (21) is fixedly connected to the middle of the fixed block (20). A slider (22) is slidably connected to the outer periphery of the connecting rod (21). A compression spring (23) is sleeved on the outer periphery of the connecting rod (21). The movable roller (18) is connected to the slider (22).

5. An adaptive laminating and packaging machine based on dual-cam dynamic switching according to claim 1, characterized in that, The cam control system includes: The parameter package adaptive correction module is used to generate a performance correction factor based on process data collected in one or more preceding packaging cycles, and to generate a predictive parameter package for the next product. The performance correction factor is used as an input variable to dynamically correct at least one control parameter in the predictive parameter package, so as to form a parameter generation process with closed-loop feedback adjustment. The dynamic transition coordination control module is used to obtain the parameter package of the current execution state and the predictive parameter package of the preparatory state when the trigger state switch is triggered, and calculate and execute an optimal transition curve for multi-axis coordination in real time based on the parameter difference between the two, so as to drive the material conveyor (3), tripod conveyor (2), edge sealing conveyor (4) and the tool holder (10) to smoothly and without impact transition to the new motion state. The dynamic energy optimization strategy module is used to evaluate the global state of the production line and, based on the global state of the production line and the length of the next product, dynamically select a motion profile with the goal of time optimization or energy optimization, and finally generate a cam curve, which is included in the predictive parameter package generated for the next product.

6. A control method for an adaptive laminating and packaging machine based on dual-cam dynamic switching as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. The physical size information of the current product is detected and obtained by the sensor (7), and the first motion control parameter set is established for the current product by the knife-cutting controller (5), so that the packaging machine is in the execution state of processing the current product; S2. While processing the current product, a customized cam curve is generated. The knife-cutting controller (5) uses the sensor (7) to detect and obtain the physical size information of the next product in advance, and generates a predictive parameter package containing the customized cam curve in parallel and predictively for the next product, so that the packaging machine enters the preparation state. S3. When the current product is transported to the preset handover position, a state switch is triggered, and the predictive parameter package is applied to each relevant drive shaft of the packaging machine to control the subsequent packaging process of the next product. S4. The cutting controller (5) drives the blade holder (10) and the cutting assembly to complete the film cutting action of the next product according to the cam curve in the predictive parameter package.

7. The control method for an adaptive laminating and packaging machine based on dual-cam dynamic switching according to claim 6, characterized in that, Step S2 includes: The dynamic energy optimization strategy module evaluates the overall state of the production line, which includes at least the expected arrival time information of subsequent products. Based on the physical size information of the next product and the overall state of the production line, the dynamic energy optimization strategy module dynamically selects a motion profile with time optimization or energy optimization as the goal to generate the customized cam curve.

8. The control method for an adaptive laminating packaging machine based on dual-cam dynamic switching according to claim 6, characterized in that, Step S3 includes: The dynamic transition coordination control module obtains the parameter difference between the first motion control parameter set in the current execution state and the predictive parameter package in the preparatory state, and the dynamic transition coordination control module calculates and executes an optimal transition curve for multi-axis coordination in real time based on the parameter difference, so as to drive the material handling conveyor (3), tripod conveyor (2), edge sealing conveyor (4) and the tool holder (10) to smoothly transition to the new motion state defined by the predictive parameter package.

9. The control method for an adaptive laminating and packaging machine based on dual-cam dynamic switching according to claim 6, characterized in that, Step S2 further includes: The parameter package adaptive correction module uses a performance correction factor generated based on process data collected in one or more preceding packaging loops as an input variable to dynamically correct at least one control parameter in the predictive parameter package.

10. The control method for an adaptive laminating packaging machine based on dual-cam dynamic switching according to claim 9, characterized in that, The process data includes: The actual torque curve of at least one servo motor selected from the material handling conveyor (3), tripod conveyor (2), edge sealing conveyor (4) and the knife cutting conveyor assembly, or the tension sensor reading of the packaging film.

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