Label feeding device and label feeding method for a labeling machine

Abstract

The present application relates to the technical field of intelligent control of automatic labeling machines, and specifically discloses a labeling machine label feeder winding inertia difference adaptive compensation control method, which realizes dynamic conversion of energy between a servo motor and a winding disc through construction of an elastic coupling path, actively absorbs impact kinetic energy in the acceleration stage to suppress follow-up lag, releases energy in the deceleration gap to maintain smooth winding, and performs three-stage state adaptive switching based on real-time rotational inertia and dynamic physical quantities, thereby effectively solving the winding inertia difference problem caused by changes in rotational inertia under high-frequency start-stop working conditions, having adaptive compensation capability for winding inertia difference under high-frequency start-stop working conditions, effectively avoiding base band relaxation stacking or pulling and breaking, and improving labeling precision and system stability.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for automatic labeling machines, and in particular to an adaptive compensation control method for the difference in inertia of the label feeder during winding in a labeling machine. Background Technology

[0002] The label feeder is the core component of an automatic labeling machine. It uses a servo motor to drive a label-pulling mechanism that intermittently pulls the label baseband. After the label is peeled off, the separated baseband needs to be immediately collected by a winding mechanism. Existing baseband winding solutions mainly fall into the following three categories:

[0003] The first type involves an independent servo motor actively following the winding. This type uses an independent servo motor in conjunction with sensors, and the control system makes the winding speed follow the label feeding speed. This type of solution has a complex control system and high hardware costs. Furthermore, under high-frequency start-stop conditions, due to the inherent response delay of the control loop, the winding reel still inevitably experiences a following lag.

[0004] The second type is mechanical linkage winding, which is connected to the main drive mechanism via a synchronous pulley and uses a buffer spring to achieve adaptive tension adjustment. This solution eliminates the need for a separate winding motor, but its working principle is a "following + overload protection" mode, which is essentially a passive following strategy and cannot actively compensate for the speed difference caused by rotational inertia; its buffer spring is mainly used to absorb linear tension fluctuations, with low energy density and slow response speed, and cannot effectively absorb high-frequency impact energy.

[0005] The third type is a semi-active solution that adds an elastic buffer mechanism. It alleviates tension impact by adding a buffer device on the basis of independent power drive, but fails to make a fundamental improvement on the power coupling mode of the winding mechanism.

[0006] The servo motor of the labeling machine operates in a high-frequency start-stop state during label dispensing (typically 3-6 times / second). When the motor accelerates or decelerates instantaneously, the winding reel cannot immediately follow the change in rotational speed due to its own rotational inertia, resulting in a speed difference. This inertia difference can cause the baseband tape to become loose and stacked or to break due to tension. Furthermore, under full-reel conditions, the increased amount of baseband tape winding increases the rotational inertia, making the hysteresis effect more significant. In addition, independent servo solutions face a dilemma between cost and response speed, and traditional solutions struggle to simultaneously meet the requirements of "quick start-up when empty" and "smooth winding when full."

[0007] The technical problem to be solved in this application is: to design an adaptive compensation control method for the inertia difference of the label feeder of a labeling machine that does not rely on high response speed for follow control and can actively absorb and transform inertial impact in principle. Summary of the Invention

[0008] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide an adaptive compensation control method for the inertia difference of the label feeder of a labeling machine that does not rely on high response speed for follow control and can actively absorb and transform inertial impact in principle.

[0009] The technical solution adopted in this invention is: an adaptive compensation control method for the inertia difference of the label feeder of a labeling machine, comprising the following steps:

[0010] S1. During the intermittent dispensing process of the servo motor high-frequency start-stop drive of the label pulling mechanism, the power transmission path between the servo motor and the winding reel is constructed as an elastic coupling path that includes elastic O-belt friction transmission and spring torsional energy storage.

[0011] S2. Based on the label feeding speed and real-time operating parameters, the real-time rotational inertia J(t) of the winding reel is estimated online.

[0012] S3. When the servo motor accelerates and generates inertial impact, the spring is used to actively absorb the impact kinetic energy of the servo motor by torsional deformation and convert it into the elastic potential energy of the spring for storage, so as to suppress the following lag caused by the rotational inertia of the winding reel.

[0013] S4. During the interval when the servo motor decelerates or stops, the spring releases the stored elastic potential energy, driving the winding reel to continue winding at a steady angular velocity.

[0014] S5. Real-time acquisition of dynamic physical quantities of the winding drive chain. Based on the dynamic physical quantities and real-time rotational inertia J(t), adaptive automatic switching control is performed between three states: steady-state transmission state, inertial impact energy storage state, and overload slippage protection state, to achieve adaptive compensation for winding inertia difference under high-frequency start-stop conditions.

[0015] In some implementations, the step of online estimation of the real-time moment of inertia J(t) of the winding reel specifically includes:

[0016] During continuous labeling production, the label feeding speed v_web(t) of the label feeder is collected in real time. The real-time rotational inertia J(t) is calculated using a preset online prediction model of rotational inertia. The prediction model is as follows:

[0017]

[0018] Where J0 is the initial moment of inertia of the empty reel, ρ is the baseband density, w is the baseband width, r0 is the radius of the reel mandrel, h is the baseband thickness, and v web (s) represents the baseband speed, v web (t) represents the baseband speed.

[0019] In some implementations, an initial calibration step is also included before continuous labeling production:

[0020] The servo motor is controlled to drive the take-up reel to idle at a constant low speed. The real-time output torque feedback and angular acceleration of the servo motor are collected to calculate the initial rotational inertia J0 of the empty reel and the inherent frictional loss T of the system. friction The calibration results are used as the baseline input for the prediction model.

[0021] In some implementations, the automatic switching control logic for the three-level states specifically includes:

[0022] First state (steady-state transmission state): When the absolute value of the real-time speed difference between the take-up drive shaft and the take-up shaft core is less than the preset proportional threshold and the transmitted torque is lower than the slippage threshold of the elastic O-belt, power transmission is maintained continuously, the spring maintains the steady-state torsion angle, and the slippage threshold is T. slip ;

[0023] Second state (inertial impact energy storage state): When the absolute value of the servo motor's angular acceleration is greater than the preset acceleration threshold and the generated inertial impact torque exceeds the static balance torque of the spring, the spring is allowed to increase its torsion angle to store energy. The static balance torque of the spring is T. nominal ;

[0024] Third state (overload slippage protection state): When the transmission torque reaches or exceeds the slippage threshold of the elastic O-belt and the duration exceeds the set time threshold, the elastic O-belt slips and unloads on the outer circle surface of the film take-up drive shaft, cutting off the power transmission.

[0025] In some implementations, the maximum stored torque T of the spring is... max The friction slippage threshold T of an elastic O-belt slip and normal steady-state transmission torque T nominal The following third-order inequality constraints must be satisfied:

[0026] T nominal <T slip <T max

[0027] This ensures that the system does not slip during normal transmission, and that in the event of excessive inertial impact or extreme overload, the elastic O-belt slips and unloads the load before the spring is compressed.

[0028] In some implementations, the friction slippage threshold T of the elastic O-belt slip The calculation formula is:

[0029] T slip =μ·F0·r·(1-e (-μφ) )

[0030] Where μ is the static friction coefficient between the elastic O-belt and the outer circular surface of the take-up drive shaft, F0 is the initial tension of the elastic O-belt, r is the radius of the take-up drive shaft, and φ is the wrap angle.

[0031] In some implementations, a dynamic parameter matching step is also included:

[0032] Calculate the expected value of the inertial impact torque T exp =J(t)·α max , where α max This is the maximum angular acceleration of the servo motor;

[0033] The initial tension force F0 is dynamically increased by adjusting the position of the tension wheel through the control mechanism, thereby reducing the slippage threshold T. slip Keep above T exp， At the same time, the preload angle of the mainspring is reduced to reserve energy storage space. The mainspring is also equipped with a preload adjustment mechanism connected to it. The preload adjustment mechanism is used to adjust the angle of the fixed end of the mainspring to change the preload angle.

[0034] In some implementations, the criteria for determining the third state (overload slip protection state) also include: real-time detection of the baseband tension change rate dF / dt by a tension sensor; when dF / dt exceeds a preset upper limit and the duration exceeds a set threshold, the system is determined to enter the third state.

[0035] In some implementations, fault diagnosis and dual active protection steps are also included:

[0036] When the system remains in the third state for a period of time exceeding the preset fault time threshold, it is determined that the system has experienced a baseband jamming or mechanical jamming fault.

[0037] The controller actively outputs deceleration or emergency stop commands to the servo motor, forming a dual protection mechanism of "mechanical physical slippage + electrical active deceleration".

[0038] In some implementations, reducing the preload angle of the mainspring specifically includes:

[0039] Based on the incremental change of the real-time moment of inertia J(t), the preload adjustment mechanism connected to the fixed end of the spring is controlled to rotate in the opposite direction by a set angle, thereby reducing the initial preload torque of the spring and increasing the maximum torsional deformation of the spring under inertial impact conditions, in order to match the increased inertial impact energy absorption requirements as the coil diameter increases.

[0040] This invention has the following technical effects: by constructing an elastic coupling path to realize dynamic energy conversion between the servo motor and the winding reel, it actively absorbs impact kinetic energy during the acceleration phase to smooth out following lag, releases energy during the deceleration gap to maintain stable winding, and performs three-level adaptive switching based on real-time rotational inertia and dynamic physical quantities, thereby effectively solving the problem of poor winding inertia caused by changes in rotational inertia under high-frequency start-stop conditions. It has the adaptive compensation capability for poor winding inertia under high-frequency start-stop conditions, effectively avoids baseband slack stacking or pulling breakage, and improves labeling accuracy and system stability. Attached Figure Description

[0041] Figure 1 This is a schematic diagram illustrating the steps of the adaptive compensation control method for the rewind inertia difference of the label feeder in the labeling machine according to the present invention.

[0042] Figure 2 This is a schematic diagram of the automatic switching control logic of the three-level state of the adaptive compensation control method for the rewind inertia difference of the label feeder of the labeling machine according to the present invention. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Please see Figure 1-2 This invention provides a technical solution: an adaptive compensation control method for the inertia difference of the label feeder of a labeling machine, comprising the following steps:

[0045] S1. During the intermittent dispensing process of the servo motor high-frequency start-stop drive of the label pulling mechanism, the power transmission path between the servo motor and the winding reel is constructed as an elastic coupling path that includes elastic O-belt friction transmission and spring torsional energy storage.

[0046] S2. Based on the label feeding speed and real-time operating parameters, the real-time rotational inertia J(t) of the winding reel is estimated online.

[0047] S3. When the servo motor accelerates and generates inertial impact, the spring is used to actively absorb the impact kinetic energy of the servo motor by torsional deformation and convert it into the elastic potential energy of the spring for storage, so as to suppress the following lag caused by the rotational inertia of the winding reel.

[0048] S4. During the interval when the servo motor decelerates or stops, the spring releases the stored elastic potential energy, driving the winding reel to continue winding at a steady angular velocity.

[0049] S5. Real-time acquisition of dynamic physical quantities of the winding drive chain, including at least the real-time speed difference between the winding drive shaft and the winding shaft core, the transmission torque, and the angular acceleration of the servo motor. Based on the dynamic physical quantities and the real-time moment of inertia J(t), adaptive automatic switching control is performed between three states: steady-state transmission state, inertial impact energy storage state, and overload slippage protection state, to achieve adaptive compensation for winding inertia difference under high-frequency start-stop conditions.

[0050] In the intermittent bidding process of the servo motor-driven high-frequency start-stop bidding mechanism, the power transmission path between the servo motor and the take-up reel is first constructed. This path is constructed as an elastic coupling path that includes friction transmission via an elastic O-belt and torsional energy storage via a spring. For example, the output shaft of the servo motor can be connected to an intermediate drive shaft via a synchronous pulley. An elastic O-belt pulley is mounted on this intermediate drive shaft, and the elastic O-belt is wound around this pulley and the spindle of the take-up reel to achieve friction transmission. One end of the spring can be fixed to the spindle of the take-up reel, and the other end can be fixed to the housing of the take-up reel; alternatively, one end of the spring can be fixed to the intermediate drive shaft, and the other end can be fixed to the spindle of the take-up reel to achieve torsional energy storage.

[0051] Furthermore, based on the label feeding speed and real-time operating parameters, the real-time rotational inertia J(t) of the reel is estimated online. The label feeding speed can be obtained in real time by detecting the movement speed of the label pulling mechanism using an encoder or photoelectric sensor. Real-time operating parameters can include the current rotational speed of the reel, the output torque of the servo motor, etc., which can be obtained through feedback from sensors or servo drives. The real-time rotational inertia J(t) of the reel can be estimated by establishing a simplified mathematical model. By measuring the label feeding length of the baseband in real time, the current roll diameter can be calculated, and thus the rotational inertia can be estimated. As another implementation method, experimental calibration can be performed in advance to establish a lookup table of rotational inertia and roll diameter, and the value can be obtained by looking up the table based on the roll diameter during operation.

[0052] Therefore, when the servo motor accelerates and generates inertial impact, the torsional deformation of the spring actively absorbs the impact kinetic energy of the servo motor and converts it into the elastic potential energy of the spring for storage, thus mitigating the following lag caused by the winding reel's own rotational inertia. When the servo motor receives an acceleration command, its speed increases rapidly in a short period of time. At this time, due to the inertia of the winding reel, its speed cannot keep up immediately, resulting in an instantaneous torque difference in the transmission chain, i.e., inertial impact. The spring is designed with a certain preload. When inertial impact occurs, the torque output by the servo motor is transmitted through the elastic coupling path. If the impact torque exceeds the preload torque of the spring, the spring will further undergo torsional deformation, converting the excess kinetic energy into its own elastic potential energy for storage. For example, the spring can be designed with linear or nonlinear torsional stiffness to adapt to different impact energy absorption requirements. By absorbing the impact kinetic energy with the spring, the speed difference between the servo motor and the winding reel can be effectively buffered, preventing the winding reel from failing to keep up in time due to excessive inertia in the early stages of acceleration, thereby reducing the instantaneous tension fluctuation of the baseband.

[0053] During the intervals when the servo motor decelerates or stops, the spring releases its stored elastic potential energy, driving the winding reel to continue winding at a steady angular velocity. When the servo motor completes one output cycle and enters a deceleration or stop state, its output torque will rapidly decrease or even become zero. At this time, the elastic potential energy stored in the spring begins to be released, and the released torque will continue to act on the winding reel, allowing it to maintain a certain speed and continue winding even during the brief intervals when the servo motor decelerates or stops.

[0054] Finally, the dynamic physical quantities of the winding drive chain are collected in real time. Based on these dynamic physical quantities and the real-time moment of inertia J(t), adaptive automatic switching control is performed between three states: steady-state transmission, inertial impact energy storage, and overload slippage protection. This achieves adaptive compensation for the difference in winding inertia under high-frequency start-stop conditions. The dynamic physical quantities can include the real-time speed, angular acceleration, and output torque of the servo motor, as well as the real-time speed of the winding reel and the baseband tension. These physical quantities can be monitored and acquired in real time by encoders, torque sensors, tension sensors, etc., installed on the drive shaft. The controller can automatically identify the current operating condition of the system based on the collected dynamic physical quantities (such as speed difference, torque change rate, angular acceleration, etc.) and the estimated real-time moment of inertia J(t) through preset logic judgment rules. For example, when the speed difference is small and the torque is stable, it is determined to be steady-state transmission; when the angular acceleration suddenly increases, it is determined to be inertial impact energy storage; when the torque is too large or the tension is abnormal, it is determined to be overload slippage protection. Based on the judgment result, the controller adjusts the preload of the spring or allows the elastic O-belt to slip in order to achieve adaptive control under different conditions;

[0055] In summary, this effectively solves the problems of lag in reel following and unstable baseband tension in traditional solutions under high-frequency start-stop conditions. By constructing an elastic coupling path, the spring can actively absorb the impact kinetic energy during servo motor acceleration and release energy during deceleration, significantly mitigating the inertial lag of the reel. Combined with real-time rotational inertia prediction and three-level adaptive switching control, the system can dynamically respond to different operating conditions, ensuring smooth baseband winding throughout the entire process from empty to full reel, preventing baseband slack or breakage, and improving the stability and efficiency of labeling production.

[0056] Preferably, the step of online estimation of the real-time rotational inertia J(t) of the winding reel specifically includes:

[0057] During continuous labeling production, the label feeding speed v of the label feeder is collected in real time. web(t) The real-time moment of inertia J(t) is calculated using a pre-defined online prediction model for the moment of inertia. The prediction model is as follows:

[0058]

[0059] Where J0 is the initial rotational inertia of the empty reel, ρ is the baseband density, w is the baseband width, r0 is the radius of the reel mandrel, and h is the baseband thickness. ρ and h can be calculated by measuring the mass of a known length of baseband during the initial calibration phase, without the need for manual input. Specifically, during the initial baseband installation, the system automatically measures the mass of a fixed-length section of baseband, calculates the density ρ based on the known width and length, and measures the baseband thickness h using a through-beam sensor. web (s) represents the baseband speed, v web (t) represents the baseband speed;

[0060] In actual deployment in industrial controllers, a discretized accumulation method is used, with the sampling period Δt (e.g., 1ms~5ms) as the step size, transforming the integration operation into cycle-by-cycle accumulation:

[0061] Let R[n] be the current volume diameter at the nth sampling time, and R[0] = r0. The volume diameter recursive formula is:

[0062] R[n]=R[n-1]+(v web[n] / h)×Δt

[0063] The trapezoidal integral formula for the moment of inertia is:

[0064] J[n]=J0+Σ{k=1}^{n}ρ·w·[(R[k-1]²+R[k]²) / 2]·(v web[k] / h)·Δt

[0065] Where R[k-1] and R[k] are the roll diameters at the (k-1)th and kth sampling times, respectively, vweb[k] The baseband speed at the k-th sampling time

[0066] By real-time acquisition of the baseband belt speed v web By combining the preset online inertia prediction model with rolling calculations, this application can accurately obtain the real-time inertia J(t) of the winding reel online. This prediction method based on physical models and real-time data effectively solves the problem of difficulty in accurately obtaining the inertia caused by dynamic changes in the winding diameter during the winding process. Therefore, the absorption of impact kinetic energy by the spring during subsequent servo motor acceleration, the release of elastic potential energy by the spring during deceleration or stopping, and the adaptive automatic switching control between the three states of steady-state transmission, inertial impact energy storage, and overload slippage protection can all obtain more accurate and reliable parameter data. This enables the entire compensation control system to more accurately predict and respond to the dynamic characteristics of the winding reel, thereby significantly improving the adaptive compensation effect for the difference in winding inertia under high-frequency start-stop conditions, ensuring the smoothness and accuracy of the labeling process.

[0067] Preferably, an initial calibration step is included before continuous labeling production:

[0068] The servo motor is controlled to drive the take-up reel to idle at a constant low speed. The real-time output torque feedback and angular acceleration of the servo motor are collected to calculate the initial rotational inertia J0 of the empty reel and the inherent frictional loss T of the system. friction The calibration results are used as the baseline input for the prediction model. Through the above initialization calibration steps, the system can accurately obtain the initial rotational inertia J0 of the empty reel and the inherent frictional loss T of the system before the start of continuous labeling production. friction These precisely calibrated parameters are used as the baseline input for the online prediction model, significantly improving the accuracy of real-time moment of inertia J(t) prediction.

[0069] Preferably, the automatic switching control logic for the three-level state specifically includes:

[0070] First state (steady-state transmission state): When the absolute value of the real-time speed difference between the film take-up drive shaft and the film take-up shaft core is less than the preset proportional threshold and the transmitted torque is lower than the slippage threshold of the elastic O-belt, the power is continuously transmitted and the spring maintains the steady-state torsion angle.

[0071] Second state (inertial impact energy storage state): When the absolute value of the angular acceleration of the servo motor is greater than the preset acceleration threshold and the generated inertial impact torque exceeds the static balance torque of the spring, the spring is allowed to increase its torsion angle to store energy.

[0072] Third state (overload slippage protection state): When the transmission torque reaches or exceeds the slippage threshold of the elastic O-belt and the duration exceeds the set time threshold, the elastic O-belt slips and unloads on the outer circle surface of the film take-up drive shaft, cutting off the power transmission.

[0073] By intelligently switching between three different operating states based on the real-time dynamic physical quantities of the winding drive chain, optimal power transmission and protection can be achieved under various working conditions, including normal operation, inertial impact, and extreme overload. This not only effectively mitigates the inertial impact and following lag of the winding reel under high-frequency start-stop conditions, significantly improving winding stability and labeling accuracy, but also greatly enhances the system's operational reliability and safety through the overload slippage protection mechanism, extending the equipment's service life.

[0074] Preferably, the maximum energy storage torque T of the spring is... max The friction slippage threshold T of an elastic O-belt slip and normal steady-state transmission torque T nominal The following third-order inequality constraints must be satisfied:

[0075] T nominal <T slip <T max

[0076] This ensures that the system does not slip during normal transmission, and that in the event of excessive inertial impact or extreme overload, the elastic O-belt slips and unloads the load before the spring is compressed.

[0077] Preferably, the friction slippage threshold T of the elastic O-belt slip The calculation formula is:

[0078] T slip =μ·F0·r·(1-e (-μφ) )

[0079] Where μ is the static friction coefficient between the elastic O-belt and the outer circular surface of the take-up drive shaft, F0 is the initial tension of the elastic O-belt, r is the radius of the take-up drive shaft, and φ is the wrap angle.

[0080] Preferably, it also includes a dynamic parameter matching step:

[0081] Calculate the expected value T of the inertial impact torque based on the real-time moment of inertia J(t). exp =J(t)·α max , where α max This is the maximum angular acceleration of the servo motor;

[0082] The initial tension force F0 is dynamically increased by adjusting the position of the tension wheel through the control mechanism, thereby reducing the slippage threshold T. slip Keep above T exp，At the same time, the preload angle of the mainspring is reduced to reserve energy storage space. The mainspring is also equipped with a preload adjustment mechanism connected to it. The preload adjustment mechanism is used to adjust the angle of the fixed end of the mainspring to change the preload angle.

[0083] The control mechanism may include, but is not limited to, a lead screw and nut mechanism driven by a stepper motor or a lever mechanism driven by a cylinder, which adjusts the initial tension of the elastic O-belt by changing the position of the tensioning wheel.

[0084] When T exp <T max At that time, the above parameter dynamic matching steps will be executed normally;

[0085] When T exp ≥T max At that time, the system prioritizes reducing the maximum angular acceleration α of the servo motor. max The setting value makes T exp Reduced to T max Next, perform dynamic parameter matching;

[0086] If α is reduced max T was still not satisfied exp <T max If the system fails to do so, it will issue a message that "the take-up reel is nearly full and the label roll needs to be replaced," and the operator will need to confirm whether to continue production.

[0087] Preferably, the criteria for determining the third state (overload slippage protection state) also include: real-time detection of the baseband tension change rate dF / dt by a tension sensor. When dF / dt exceeds a preset upper limit and the duration exceeds a set threshold, the system is determined to enter the third state. In determining whether to enter the third state, in addition to relying on whether the transmission torque reaches the slippage threshold of the elastic O-belt, the system also adds real-time monitoring of the baseband tension change rate dF / dt. This dual determination mechanism significantly improves the sensitivity and timeliness of overload protection. When the baseband experiences abnormal conditions such as jamming or entanglement leading to a rapid change in tension, even if the transmission torque has not yet fully reached the slippage threshold, the system can quickly identify and trigger the protection mechanism through the abnormal tension change rate. This helps to detect potential mechanical faults earlier, effectively preventing damage to the servo motor, transmission mechanism, and the baseband itself, thereby reducing equipment maintenance costs and production downtime. Simultaneously, more accurate and timely overload protection further ensures the continuity of labeling production and the stability of product quality.

[0088] Preferably, it also includes fault diagnosis and dual active protection steps:

[0089] When the system remains in the third state for a period of time exceeding a preset fault time threshold, it is determined that the system has experienced a baseband jamming or mechanical jamming fault.

[0090] The controller actively outputs deceleration or emergency stop commands to the servo motor, forming a dual protection mechanism of "mechanical physical slippage + electrical active deceleration".

[0091] Preferably, reducing the preload angle of the mainspring specifically includes:

[0092] Based on the incremental change of the real-time moment of inertia J(t), the preload adjustment mechanism connected to the fixed end of the spring is controlled to rotate in the opposite direction by a set angle, thereby reducing the initial preload torque of the spring and increasing the maximum torsional deformation of the spring under inertial impact conditions, in order to match the increased inertial impact energy absorption requirements as the coil diameter increases.

[0093] Specifically, the real-time moment of inertia J(t) refers to the actual moment of inertia of the winding reel at any given time, and its value gradually increases as the number of base tape layers wound on the reel increases. The increment refers to the change in real-time moment of inertia J(t) over a period of time, reflecting the trend and extent of the increase in the reel diameter. By continuously monitoring and calculating the increment of J(t), the system can accurately grasp the current inertia change of the winding reel, providing a quantitative basis for subsequent preload angle adjustments. The preload adjustment mechanism is a mechanical device used to adjust the initial preload state of the mainspring. This mechanism is usually connected to a fixed end of the mainspring; rotating this mechanism changes the initial torsion angle of the mainspring, thereby adjusting its initial preload torque. Reversing the set angle means reducing the initial torsion of the mainspring, thus reducing its initial preload force. This mechanism can employ a stepper motor-driven worm gear mechanism, rack and pinion mechanism, or screw and nut mechanism, etc., to achieve fine adjustment of the mainspring preload angle by precisely controlling the rotation angle. Initial preload torque refers to the initial torsional torque of a spring when it is not subjected to external impact load. By reversing the preload adjustment mechanism to reduce the initial torsional angle of the spring, its initial preload torque can be effectively reduced. The purpose of reducing the initial preload torque is to reserve more torsional deformation space for the spring under subsequent inertial impact conditions, allowing it to absorb more impact energy. Maximum torsional deformation refers to the maximum torsional angle that a spring can withstand without plastic deformation or damage. By reducing the initial preload torque, the torsional space occupied by the spring in its initial state is reduced, thus providing more remaining space for torsional deformation to absorb impact energy when encountering inertial impact. This directly increases the upper limit of the spring's energy absorption. As the winding reel diameter increases, its moment of inertia J(t) increases accordingly. During the high-frequency start-stop process of a servo motor, especially during acceleration, a larger moment of inertia leads to a larger inertial impact torque and impact energy. Therefore, the spring needs to have a greater energy absorption capacity to mitigate these impacts. By dynamically adjusting the preload angle of the spring, its maximum torsional deformation is increased, enabling the spring's energy absorption capacity to match the ever-increasing demand for inertial impact energy, thus ensuring that the system maintains effective inertial compensation throughout the entire winding process.

[0094] Through the above technical solution, the system can dynamically adjust the initial preload of the spring according to the real-time increase of the moment of inertia J(t). This dynamic adjustment mechanism ensures that the spring always has sufficient energy absorption capacity to effectively cope with the increasing inertial impact energy as the winding reel diameter increases. Specifically, by reducing the initial preload torque of the spring, its maximum torsional deformation under inertial impact conditions is increased, thereby enabling it to absorb more impact kinetic energy. This avoids the problem of winding reel lag or drive chain overload caused by insufficient absorption capacity due to excessive impact energy. It also avoids over-preloading of the spring when the winding diameter is small, extending its service life. This adaptive preload angle adjustment mechanism makes the inertial compensation effect more stable, efficient, and reliable throughout the winding process.

[0095] The beneficial effects of this invention are as follows: By constructing an elastic coupling path, the energy conversion between the servo motor and the winding reel is realized dynamically. During the acceleration phase, the impact kinetic energy is actively absorbed to smooth the following lag. During the deceleration gap, energy is released to maintain stable winding. Based on real-time rotational inertia and dynamic physical quantities, a three-level state adaptive switching is performed, thereby effectively solving the problem of poor winding inertia caused by changes in rotational inertia under high-frequency start-stop conditions. It has the ability to adaptively compensate for poor winding inertia under high-frequency start-stop conditions, effectively avoiding baseband slack stacking or pulling breakage, and improving labeling accuracy and system stability.

[0096] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for adaptive compensation control of the inertia difference during the rewinding of a label feeder in a labeling machine, characterized in that, Includes the following steps: S1. During the intermittent dispensing process of the servo motor high-frequency start-stop drive of the label pulling mechanism, the power transmission path between the servo motor and the winding reel is constructed as an elastic coupling path that includes elastic O-belt friction transmission and spring torsional energy storage. S2. Based on the label feeding speed and real-time operating parameters, the real-time rotational inertia J(t) of the winding reel is estimated online. S3. When the servo motor accelerates and generates inertial impact, the spring is used to actively absorb the impact kinetic energy of the servo motor by torsional deformation and convert it into the elastic potential energy of the spring for storage, so as to suppress the following lag caused by the rotational inertia of the winding reel. S4. During the interval when the servo motor decelerates or stops, the spring releases the stored elastic potential energy, driving the winding reel to continue winding at a steady angular velocity. S5. Real-time acquisition of dynamic physical quantities of the winding transmission chain, and adaptive automatic switching control between three states: steady-state transmission state, inertial impact energy storage state, and overload slippage protection state, based on the dynamic physical quantities and the real-time rotational inertia J(t), to achieve adaptive compensation for winding inertia difference under high-frequency start-stop conditions.

2. The adaptive compensation control method for the inertia difference of the label feeder of a labeling machine according to claim 1, characterized in that, The steps for online estimation of the real-time rotational inertia J(t) of the winding reel specifically include: During continuous labeling production, the label feeding speed v_web(t) of the label feeder is collected in real time, and the real-time rotational inertia J(t) is calculated using a preset online prediction model of rotational inertia. The prediction model is as follows: Where J0 is the initial moment of inertia of the empty reel, ρ is the baseband density, w is the baseband width, r0 is the radius of the reel mandrel, h is the baseband thickness, and v web (s) represents the baseband speed, v web (t) represents the baseband speed.

3. The adaptive compensation control method for the inertia difference during the rewinding of the label feeder of a labeling machine according to claim 2, characterized in that, An initial calibration step is also included before continuous labeling production: The servo motor is controlled to drive the take-up reel to idle at a constant low speed. The real-time output torque feedback and angular acceleration of the servo motor are collected to calculate the initial rotational inertia J0 of the empty reel and the inherent frictional loss T of the system. friction The calibration results are then used as the baseline input for the prediction model.

4. The adaptive compensation control method for the inertia difference of the label feeder of the labeling machine according to claim 1, characterized in that, The automatic switching control logic for the three-level states specifically includes: First state (steady-state transmission state): When the absolute value of the real-time speed difference between the take-up drive shaft and the take-up shaft core is less than a preset proportional threshold and the transmitted torque is lower than the slippage threshold of the elastic O-belt, continuous power transmission is maintained, and the spring maintains the steady-state torsion angle. The slippage threshold is T. slip ; Second state (inertial impact energy storage state): When the absolute value of the servo motor's angular acceleration is greater than a preset acceleration threshold and the generated inertial impact torque exceeds the static balance torque of the spring, the spring is allowed to increase its torsion angle to store energy. The static balance torque of the spring is T. nominal ; Third state (overload slippage protection state): When the transmission torque reaches or exceeds the slippage threshold of the elastic O-belt and the duration exceeds the set time threshold, the elastic O-belt slips and unloads on the outer circle surface of the film take-up drive shaft, cutting off the power transmission.

5. The adaptive compensation control method for the inertia difference of the label feeder of a labeling machine according to claim 4, characterized in that, The maximum energy storage torque T of the spring max The friction slippage threshold T of an elastic O-belt slip and normal steady-state transmission torque T nominal The following third-order inequality constraints must be satisfied: T nominal <T slip <T max This ensures that the system does not slip during normal transmission, and that in the event of excessive inertial impact or extreme overload, the elastic O-belt slips and unloads the load before the spring is compressed.

6. The adaptive compensation control method for the inertia difference during the rewinding of the label feeder of a labeling machine according to claim 5, is characterized in that, The friction slippage threshold T of the elastic O-belt slip The calculation formula is: T slip =μ·F0·r·(1-e (-μφ) ) Where μ is the static friction coefficient between the elastic O-belt and the outer circular surface of the take-up drive shaft, F0 is the initial tension of the elastic O-belt, r is the radius of the take-up drive shaft, and φ is the wrap angle.

7. The adaptive compensation control method for the inertia difference of the label feeder of a labeling machine according to claim 6, characterized in that, It also includes a dynamic parameter matching step: Calculate the expected value of the inertial impact torque T exp =J(t)·α max , where α max This is the maximum angular acceleration of the servo motor; The initial tension force F0 is dynamically increased by adjusting the position of the tension wheel through the control mechanism, thereby reducing the slippage threshold T. slip Keep above T exp， At the same time, the preload angle of the mainspring is reduced to reserve energy storage space. The mainspring is also provided with a preload adjustment mechanism connected thereto. The preload adjustment mechanism is used to adjust the angle of the fixed end of the mainspring to change the preload angle.

8. The adaptive compensation control method for the inertia difference of the label feeder of a labeling machine according to claim 4, characterized in that, The criteria for determining the third state (overload slippage protection state) also include: real-time detection of the baseband tension change rate dF / dt by a tension sensor. When dF / dt exceeds a preset upper limit and the duration exceeds a set threshold, the system is determined to enter the third state.

9. The adaptive compensation control method for the inertia difference of the label feeder of a labeling machine according to claim 4, characterized in that, It also includes fault diagnosis and dual active protection steps: When the system remains in the third state for a period of time exceeding a preset fault time threshold, it is determined that the system has experienced a baseband jamming or mechanical jamming fault. The controller actively outputs deceleration or emergency stop commands to the servo motor, forming a dual protection mechanism of "mechanical physical slippage + electrical active deceleration".

10. The adaptive compensation control method for the inertia difference of the label feeder of a labeling machine according to claim 7, characterized in that, The reduction of the preload angle of the mainspring specifically includes: Based on the incremental value of the real-time moment of inertia J(t), the preload adjustment mechanism connected to the fixed end of the spring is controlled to rotate in the opposite direction by a set angle, thereby reducing the initial preload torque of the spring and increasing the maximum torsional deformation of the spring under inertial impact conditions to match the increased inertial impact energy absorption requirements as the coil diameter increases.

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