Method for setting movable operating members of an automated machine for manufacturing or packaging consumer goods

Abstract

A method for configuring at least one movable operating member 5,7 of an automated machine 1 for manufacturing a consumer article 3 comprises steps 16, 17 of defining a first motion profile FP for the movable operating member 5,7 and defining a corresponding second motion profile SP for an electric actuator system 8,9 that moves the movable operating member 5,7 with the first motion profile FP. The method comprises step 18 of determining a possible imperfection in the processing of the consumer article 3 caused by the movable operating member 5,7, step 19 of modifying the first motion profile FP by an interface device 15 and based on the possible imperfection to obtain a first modified profile MFP for the movable operating member 5,7, and step 20 of calculating the inverse kinematics of the first modified profile MFP by a control unit 14 to obtain a corresponding second modified profile MSP that is commanded to the electric actuator system 8,9.

Description

Technical Field

[0001] This application claims the priority of Italian Patent Application No. 102019000015950 filed on September 10, 2019, and the entire disclosure content thereof is incorporated herein by reference.

Background Art

[0002] The present invention relates to a method for setting movable operating members of an automatic machine for manufacturing or packaging consumer goods.

[0003] The applicable field of the present invention is advantageously an automatic packaging machine for manufacturing tobacco packs and a method for controlling the same, but is not limited thereto. The following disclosure will be explicitly described without sacrificing the generality as a result.

[0004] An automatic packaging machine includes a plurality of movable operating members that act on consumer goods to change the shape, structure or position of the consumer goods (for example, tobacco packs, foods, sanitary absorbent articles, etc.). The movable operating members are generally adapted to process consumer goods and are, in most cases, mechanical parts of different shapes and sizes that are actuated by an electric motor or a pneumatic cylinder.

[0005] During the initial startup of an automatic machine, due to different assembly methods and normal tolerances of mechanical parts, it is often necessary to set the movable operating members in order to achieve high processing accuracy. That is, it is necessary to perform operations such as calibration, filing, shimming or synchronization required for the proper function of the automatic machine. Without this setting, the operation profile of the movable operating member does not exactly correspond to the profile developed at the design stage of the automatic machine, so in most cases, the product will not meet the quality specifications agreed upon by the customer, and thus the product will not meet the desired accuracy specifications.

[0006] These tasks are currently being carried out directly by on-site technical experts. These technicians insert shims (by filing, milling, or cutting) and / or modify parts so that the movable operating members (or the last link of the automated machine) can perform the required processing with the desired precision.

[0007] The poor repeatability of these operations (because each automated machine is modified ad-hoc according to the assembly of available parts and / or structural defects) creates uncalculable variability between automated machines or between the parts of automated machines that should be identical.

[0008] Furthermore, since the primary form of adjusting different motors belonging to automatic machines was purely mechanical until recently, the mechanical parts that technicians work on are usually mechanical parts (especially those with kinematic sections).

[0009] Finally, due to the mechanical properties of the processed parts, this setting operation is rarely recorded and / or shared, resulting in considerable wasted time when troubleshooting subsequent malfunctions and providing after-sales support to customers who have acquired the automated machinery.

[0010] Furthermore, Patent Document 1 (Japanese Patent Publication No. 11-79117) describes a device for adjusting the packaging material to various sizes while avoiding damage to the packaging material by separately controlling a drive source that moves the pushing part forward and a drive source that transports the cut packaging sheet along the supply surface. [Prior art documents] [Patent Documents]

[0011] [Patent Document 1] Japanese Patent Application Publication No. 11-79117 [Overview of the Initiative] [Problems that the invention aims to solve]

[0012] The object of the present invention is to provide a method for setting a movable operating member of an automated machine for manufacturing or packaging consumer goods, which at least partially overcomes the aforementioned drawbacks and at the same time is easy to implement and economical. [Means for solving the problem]

[0013] According to the present invention, a method for setting a movable operating member of an automated machine for manufacturing or packaging consumer goods is provided as described in the appended claims. An apparatus configured to carry out the method is also provided.

[0014] The claims describe preferred embodiments of the present invention and constitute an integral part of this specification.

[0015] Next, the present invention will be described with reference to the accompanying drawings illustrating non-limiting embodiments. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a schematic perspective view of an automatic packaging machine for manufacturing packs. [Figure 2] Figure 2 is a schematic partial side view of the automatic machine shown in Figure 1, with two movable operating members shown in the first configuration. [Figure 3] Figure 3 is a schematic side view of the portion shown in Figure 2 in the second configuration. [Figure 4] Figure 4 is a schematic diagram showing the structure and connections of the components of the device shown in Figure 1. [Figure 5] Figure 5 shows a schematic diagram of the steps of this method and a possible flowchart illustrating how these steps relate to each other. [Figure 6] Figure 6 schematically shows possible screens for the automated machine interface related to the parts shown in Figures 2 and 3. [Modes for carrying out the invention]

[0017] Figure 1 illustrates an automatic machine 1 for manufacturing articles of the tobacco industry, in particular an automatic wrapping machine 1 for applying a transparent overwrap to tobacco packs.

[0018] The automatic machine 1 comprises a frame 2 to which a plurality of movable operating members (such as grippers, drums, pushing-in parts, etc.) are attached, which perform operations for the manufacture and / or wrapping of consumer articles (in the non-limiting embodiment illustrated in Figure 1, a pack 3 of tobacco).

[0019] In particular, the automatic machine 1 comprises a wrapping unit 4 provided with a plurality of movable operating members, each of the plurality of movable operating members being moved by a corresponding electric motor (or any type of actuating device).

[0020] In the non-limiting embodiment shown in Figures 2 and 3, the wrapping unit 4 comprises two movable operating members, namely a movable wheel 5 provided with a chamber 6 (in particular a pocket) which is mounted so as to be rotatable about a central axis of rotation RA and is configured to receive a pack 3 of tobacco, and a pushing-in part 7 configured to push the pack 3 of tobacco into the chamber 6 of the movable wheel 5. The movable wheel 5 and the pushing-in part 7 perform processing operations (movements) on the pack 3 and are thus movable operating members as a result.

[0021] In the non-limiting embodiments shown in FIGS. 2 and 3, the packaging unit 4 of the automatic machine 1 also comprises two electric actuator systems 8 and 9. In particular, the two electric actuator systems 8 and 9 are two electric motors M. The electric actuator system 8 is connected to the wheel 5 so as to cause the rotation of the wheel 5 about the rotation axis RA, and is connected to a static power converter (known and not shown) that controls the electric actuator system 8 to rotate the wheel 5 (through the intervention of a reduction gear not shown). The electric actuator system 9 is connected to the pushing part 7 so as to linearly move the pushing part 7 along the direction D and by a predetermined stroke S (FIGS. 2 and 3), and is connected to a further static power converter (known and not shown) that controls the electric actuator system 9. In particular, the electric actuator systems 8 and 9 are connected via the intervention of a motion transmission system 12, i.e., a movable operating member, i.e., the wheel 5 and the pushing part 7 (for example, in the case of the pushing part 7, a reduction gear 13 connected to a screw, or a multi-joint quadrilateral link mechanism that converts circular motion into linear motion, or in the case of the wheel 5, a reduction gear, for example, a planetary gear that disengages the wheel 5 moving at exactly the same speed as the motor M).

[0022] In other non-limiting cases not shown, the motion transmission system 12 can be any device that transmits motion from the electric actuator systems 8 and 9 to the corresponding movable operating members (the wheel 5 and the pushing part 7 in the embodiments shown in FIGS. 2 and 3), such as, for example, a mechanical cam, a rack, a crank mechanism, a kinematic chain, a parallel link mechanism, etc.

[0023] According to a preferred non-limiting embodiment, the electric actuator systems 8 and 9 are brushless. In particular, the static power converter is a drive device that controls the amount of current supplied to each of the electric actuator systems 8 and 9 based on a desired method, and thus controls the electric motor M.

[0024] The automatic machine 1 further comprises a control unit 14 (Figure 1) configured to control the electric actuator systems 8 and 9.

[0025] The automatic machine 1 is advantageously equipped with an interface device 15 (shown in Figure 1) configured to allow an operator O to change the movement of movable operating members (e.g., the wheel 5 and the push-in part 7). In particular, the interface device 15 is equipped with a screen 10, more precisely, the screen 10 is a touchscreen.

[0026] In the non-limiting case shown in Figure 2, the stroke S of the pusher 7 is not sufficient to fully insert the pack 3 into the chamber 6 (note that in Figure 2, the stroke S is not significantly sufficient for illustrative purposes, and such a deficiency may be on the order of tenths of a millimeter). In use, this situation may result in the pack 3 being lost during the rotation of the wheel 5, and / or the pack 3 itself being damaged. The limited stroke S may result from multiple factors, such as the incorrect assembly of one of the multiple components of the packaging unit 4 (e.g., the pusher 7, wheel 5, motor M, pusher rod or piston), or the incorrect handling of the multiple components. In this case, instead of inserting (fixing and / or welding) a shim to fully load the pack 3 into the pocket 6 in order to speed up the setting of the pusher 7, and instead of calling on the designer to change the motion law of the pusher 7, the operator O interacts with the interface device 15 to change the operating profile of the motor M that moves the pusher 7. In this way, once the operating profile is modified by the interface device 15, the stroke S allows the pack 3 to fully enter the pocket 6, as illustrated in Figure 3. In particular, operator O will modify the operating profile of the motor M of the electric actuator system 9 by inputting how much larger they want the stroke S of the push-in section 7 to be, regardless of the motion transmission system 12.

[0027] Clearly, this explanation also applies to cases different from the aforementioned example, where the motion of the movable operating member is modified by the operator O using the interface device 15 (operating at the level of the movable operating member, not at the level of the actuator system). Other examples include excessive stroke S compressing the pack 3 in the chamber 6, or inaccurate rotation of the wheel.

[0028] According to the non-limiting embodiment shown in Figure 4, the control unit 14 is connected to an interface device 15, allowing an operator O to interact with the control unit 14. In particular, the control unit 14 includes (or is connected to) a storage device 11, which stores the operation profiles performed by the movable operating members of the automatic machine 1 during use.

[0029] Advantageously, although not strictly necessary, the automated machine 1 includes a calculation unit 26, which is connected to a control unit 14 and configured to calculate a modified operating profile based on changes provided by the operator O via an interface device 15. In particular, such a modified profile is then commanded by the control unit 14 to the automated machine's motor M.

[0030] Figure 5 shows a flowchart illustrating a method of a non-limiting embodiment according to the present invention.

[0031] In the flowchart shown in Figure 5, elliptical blocks indicate the beginning or end of the chart, rectangular blocks indicate comprehensive instructions, and diamond blocks placed at branching points are decision blocks containing logical conditions that determine the direction the flow takes. These blocks have been conventionally used. In particular, in decision blocks, if the logical condition is met, the flow branches in the direction of the checkmark symbol "✓", and if the logical condition is not met, the flow of the chart branches in the direction of the symbol "X".

[0032] This method includes a step 16 in which a motion profile FP (shown in Figure 6) of a movable operating member (e.g., of the push-in part 7) is determined, thereby performing at least one processing operation on the item (i.e., pack 3). In particular, step 16 is performed during the design of the automated machine 1 and specifies the specifications for calculating the motion profile FP performed on the last link (i.e., on the movable operating member to be moved).

[0033] To move the push-in part in a desired motion profile, the method comprises a later step 17 which defines a motion profile SP of an electric actuator system 9 corresponding to the motion profile FP. In particular, the electric actuator system 9 is mechanically connected to a movable operating member (i.e., the push-in part 7) via a motion transmission system 12 and moves the movable operating member in motion profile FP. In other words, during step 17, the motion profile SP is defined as requiring the electric actuator system 9, i.e., the electric motor M, to move the push-in part 7 (i.e., in this non-limiting case, the movable operating member, i.e., the last link of the kinematic chain) in profile FP.

[0034] In the non-restrictive example shown in Figure 6, the motion profile FP corresponds to the variation in the position of the push-in part 7 along the stroke S (vertical axis) shown in Figure 2 with respect to a reference (horizontal coordinate axis), and the motion profile SP corresponds to the variation in position that the motor M of the electric actuator system 9 must perform in order to move the push-in part in profile FP.

[0035] In non-limiting examples, such as the one shown in Figure 6, the motion profile FP describes the movement of the push-in section 7 of the packaging unit shown in Figure 2. In particular, this profile requires an initial step of forward movement, a central step of being in a fixed position, and a final step of backward movement.

[0036] This method also advantageously includes a step 18 to determine any possible defects in the handling of the items (pack 3) caused by a movable operating member (e.g., a push-in part 7). In other words, the correct function of the movable operating member is checked during this step. If no defects are encountered during this step, the method terminates in step 30, and the production of pack 3 proceeds smoothly.

[0037] Advantageously, if in step 18 it is determined that there is a defect in the processing of the items, the method includes a later step 19 in which the interface device 15 of the automatic machine 1 modifies the motion profile FP based on the defects that may occur in the processing of pack 3, so as to obtain a modified profile MFP (Figure 6) of the movable operating member (i.e., the push-in part 7). In this way, it is possible to focus on the motion profile of the movable operating member, and as a result the task is disengaged from the mechanism of the motion transmission system 12.

[0038] According to a non-limiting embodiment shown in Figure 5, the method comprises a step 20 in which the control unit 14 calculates the inverse kinematics of the modified profile MFP of the movable operating member (e.g., push-in part 7) in order to obtain the corresponding modified profile MSP commanded to the electric actuator system 9. In particular, the inverse kinematics is evaluated while calculating the intervention of the motion transmission system 12 (e.g., the speed reducer 13). In this way, the operator implements a modification of the motion profile FP of the push-in part 7 (for example, by increasing the stroke of the push-in part 7 as shown in Figure 2) and actually implements a modification of the motion profile SP of the electric actuator system 9 (actively moving the push-in part 7 during use).

[0039] Advantageously, although not necessarily required, this method includes a later step 21 in which the control is modified to control the electric actuator system 9 to implement the corresponding modified profile MSP. In this way, the electric actuator system 9 moves the push-in section 7 with the desired correct modified profile MFP through the intervention of the motion transmission system 12.

[0040] Advantageously, although not necessarily required, the steps 18 for determining potential defects and / or modifying such defects are performed by the operator O of the automatic machine 1 using the interface device 15 of the automatic machine 1. In this way, setting the movable operating members is much faster than in the prior art where the operator must mechanically handle the components of the automatic machine 1 or, in particular, submit the task to the designers in the computing department.

[0041] Advantageously, although not strictly necessary, step 18, which determines possible defects, is repeated following step 19, which modifies the operational profile FP (more precisely, following step 21, which modifies the control of the electric actuator system 9). In particular, once step 19, which modifies the profile FP, is performed, analysis step 27 is performed, and thereafter, if the operational profile MFP performed by the movable operating member (e.g., the push-in part 7) is satisfactory (the pack 3 is entirely inside the chamber 6 as shown in Figure 3), one proceeds to step 30 (the manufacturing of the pack 3 proceeds); on the other hand, if the profile MFP is not satisfactory (the push-in part 7 does not accurately push the pack 3 into the chamber 6), steps 18, 19, and 27 are repeated until the desired performance is achieved by the configured movable operating member.

[0042] Advantageously, although not strictly necessary, the motion profile FP and the corresponding motion profile SP include at least one working stage WP (where the movable operating member is in motion) and at least one recovery stage RP (where the movable operating member is stationary), during which step 21 is performed to change the control. In this way, the change in control to change profile FP to profile MFP avoids interfering with the motion of the electric actuator system 9 (i.e., motor M).

[0043] Advantageously, although not strictly necessary, this method includes step 22, which identifies one or more sections K of the operational profile FP. At least some of these sections can be modified by the interface device 15, or more precisely, by the operator O.

[0044] In particular, step 19, which modifies the profile FP, is performed by changing the position value of the movable operating member at node K.

[0045] According to non-limiting embodiments such as the embodiment shown in Figure 6, the operating profile FP comprises at least one linear function segment LF.

[0046] Alternatively or additionally, the operating profile FP comprises at least one polynomial function segment PF (e.g., a polynomial of degree 5 or higher, a B-spline of degree 3 or higher, etc.). In particular, the nodes K are inflection points or connection points of these function segments LF and PF.

[0047] Advantageously, although not strictly necessary, this method includes step 23, which defines an allowable interval I to limit the change in each node K.

[0048] According to non-limiting embodiments such as those illustrated in Figure 6, the allowable spacing I is linear and comprises an upper limit UL and a lower limit LL on the longitudinal axis (operating member of the last link). The allowable spacing I (and thus the limits UL and LL) is selected considering boundary conditions indicated by the system to avoid mechanical collision or risk to the automatic machine 1 and / or operator O.

[0049] According to other non-limiting embodiments not shown, the allowable spacing I is linear and comprises an upper limit UL and a lower limit LL on the transverse axis (reference). The spacing I (and thus the limits UL and LL) is selected considering boundary conditions indicated by the system in order to avoid mechanical collisions or risks to the automatic machine 1 and / or operator O.

[0050] According to further non-limiting embodiments not shown, the allowable interval I is circular, with a node K at its center.

[0051] Advantageously, although not strictly necessary, before step 20 in which the inverse kinematics is calculated, the control unit 14 checks (in step 24 shown in Figure 6) that all nodes K of the motion profile FP of the movable operating member are within their respective allowable intervals I. If a node K is outside the allowable interval I, the process moves back from step 24 to step 19 to allow the insertion of a value defined by the allowable interval I.

[0052] Advantageously, although not strictly necessary, the method includes a step 25 for collecting multiple data items related to step 19, which modifies the motion profile FP (e.g., which variables were changed and to what extent). In particular, the multiple data items are used to understand the changes to the motion profile FP and / or potential calculation errors that may occur during the design phase of the automated machine 1. In this way, it is possible to identify potential errors that may occur due to the acquisition of machine parts or errors in the design or calculation of the motion profile FP.

[0053] In some favorable, non-limiting circumstances, the collected data items can be used to train an artificial intelligence system. In particular, the collected data items can be analyzed by a decision tree algorithm to identify possible improvements that should be implemented immediately during the design phase, such as when there are similar modifications to multiple automated machines 1 having similar components.

[0054] According to some non-limiting embodiments, the step 21 of changing the control is performed while the automatic machine 1 is stationary. This ensures greater safety, allowing each operator O after the change to control the same effectiveness.

[0055] According to a further, less restrictive embodiment, the step 21 of changing the control is performed while the automatic machine 1 is operating. In this way, the setting of the movable operating member (e.g., the push-in part 7) can be expedited.

[0056] Advantageously, although not strictly necessary, the motion profiles FP and SP have a cam relation with the master profile MP. The expression "have a cam relation" indicates that the motion profiles FP and SP are connected to the reference profile (master profile MP) in a relationship that can be changed instantaneously. In other words, this means that, for example, each position in the master profile MP has a corresponding position of the movable operating member (push-in part 7) (and thus, indirectly, a corresponding position of the electric actuator system 9). In this way, the profile MP master relates to the motion profile FP of the movable operating member by a clause. Such a relationship is useful for synchronizing all the movable operating members of the automatic machine that are directly or indirectly connected to the main axis, not only during standard operation but also during the acceleration and deceleration phases of the automatic machine 1, especially at the start and end of production of goods.

[0057] In some non-limiting cases, the master profile MP is the profile of a physical axis, such as a drive pulley or wheel. In other non-limiting situations, the master profile MP is the profile of a virtual axis.

[0058] In Figure 6, the horizontal axis corresponds to the position of the master profile MP, and the vertical axis corresponds to the position of the last link, i.e., a movable operating member such as the push-in part 7. In particular, the horizontal axis has values ​​expressed in degrees, where one rotation (360°) corresponds to a machine cycle, and the vertical axis is expressed in millimeters. Therefore, in the non-limiting embodiment shown in Figure 6, the profiles FP and MFP indicate the position of the push-in part 7 along the stroke S in millimeters.

[0059] During use, operator O interacts with the control unit 14 via the interface device 15 to change the position of the node K and, consequently, the shape of the operating profile FP, as soon as an improper handling of the item is detected (for example, as soon as a stroke that is too short S is detected). In the non-limiting embodiment shown in Figure 6, operator O changes the position of the node K by specifying that the position of the push-in part corresponding to the position of the master profile be moved 3 mm upward by 180° to 220° (consequently, the position of the push-in part passes from 59 mm given for the operating profile FP to 62 mm for the operating profile MFP). In this way, operator O changes the operating profile FP by identifying the changed profile MFP. Once this step is complete, the calculation unit 26 activates the corresponding changed profile MSP (shown as an example in Figure 6 and not on the same scale as profile FP) of the motor M of the electric actuator system 9. In particular, in the non-limiting embodiment shown in Figure 6, it should be noted that the operator can only change specific parameters written in the empty boxes, while other parameters contained in the protected boxes cannot be changed because this could compromise the safety of the automatic machine 1 or operator O (for example, due to a possible mechanical collision).

[0060] Advantageously, although not strictly necessary, the interface device 15 allows the operator O to change only a portion of section K (i.e., those included in block 34, whose order can be changed while ensuring the proper functioning of the automatic machine 1), and not to change the values ​​included in block 35, which represent the necessary constraints for the correct handling of the goods.

[0061] According to some non-limiting embodiments, the master profile MP is a linear profile. In particular, during normal operation, the master profile MP is an operating profile having a constant speed.

[0062] According to non-limiting embodiments such as the embodiment shown in Figure 6, the operation profile FP and operation profile SP are position profiles.

[0063] According to further non-limiting embodiments not shown, the operating profile FP and operating profile SP are speed profiles.

[0064] Alternatively or additionally, the operating profile FP and operating profile SP specify the torque profile.

[0065] In other non-limiting cases, the master profile MP is a time flow. For example, in such cases, the operational profiles FP, SP, MFP, and MSP are speed profiles.

[0066] While not necessarily essential, the automated machine 1 is configured to carry out the method described above.

[0067] While the invention described above makes particular reference to specific embodiments, it is not limited to these embodiments. All modifications, changes, or simplifications that would be apparent to those skilled in the art, such as the addition of further actuators, types of automatic machines other than tobacco packaging machines, different shapes of operating profiles, different sequences of steps in the method, different numbers of motors, etc., fall within the scope of the invention described above.

[0068] The present invention has several advantages.

[0069] First, it enables the setting of movable operating components directly and quickly on-site, without incurring material costs such as shims or the consumption of tools such as drills, milling machines, and files.

[0070] Furthermore, the methods described above make it possible to identify and calculate differences between different automated machines that are essentially similar but have different settings due to defects in the assembly and / or structural aspects of available parts.

[0071] Finally, the present invention enables the recording and sharing of multiple data items related to the settings of movable operating members, and as a result, it is possible to remotely and / or with the help of a digital system to understand whether or not an error was made during the design of the device, and how to potentially resolve this error.

[0072] A further advantage arising from the means of the present invention relates to improved after-sales support. For example, if a machine operator sees or identifies a movable operating member as it gradually wears down, the machine operator can autonomously change the operating profile of the movable operating member, thereby avoiding the need for immediate replacement of parts of the automated machine and / or dispatching a technical representative to the customer. Furthermore, this invention also includes the following inventions. The first aspect is, A method for setting up at least one movable operating member (5, 7) of an automated machine (1) for manufacturing consumer goods (3), The aforementioned method, Step (16) defines a first operating profile (FP) of the movable operating members (5,7), and through the first operating profile (FP), at least one processing of the consumer article (3) is performed. Step (17) defines a corresponding second motion profile (SP) for an electric actuator system (8, 9), the electric actuator system (8, 9) is mechanically connected to the movable operating member (5, 7) via a motion transmission system (12) to move the movable operating member (5, 7) having the first motion profile (FP), A step of determining possible defects in the handling of the consumer goods (3) caused by the movable operating members (5, 7), The interface device (15) of the automatic machine (1) modifies the first operation profile (FP) based on the processing defects of the consumer goods (3) to obtain a first modification profile (MFP) of the movable operating members (5,7), A method comprising the steps of: obtaining a second modified second profile (MSP) to be commanded to the electric actuator system (8,9) by a control unit (14) via the motion transmission system (12), wherein the inverse kinematics of the first modified profile (MFP) of the movable operating member (5,7) is calculated by the control unit (14) via the motion transmission system (12), The aforementioned method, The method further comprises the step of identifying one or more sections (K) of the first operational profile (FP) that can be modified by the interface device (15). The second aspect is, The method in the first embodiment comprises a further step (21) of modifying the control to control the electric actuator system (8, 9) to implement a corresponding modified second profile (MSP). The third aspect is, The first or second embodiment of the method is characterized in that the step of determining the possible defects (18) and / or the step of changing the first operating profile (FP) (19) are performed by a machine operator (O) using the interface device (15) of the automatic machine (1), and in particular, the step of determining the possible defects (18) is repeated following the step of changing the first operating profile (FP) (19). The fourth aspect is, The first operating profile (FP) and the corresponding second operating profile (SP) are methods in any one of the first to third embodiments, comprising at least one work phase (WP) and at least one recovery phase (RP), wherein a step (21) of changing control is performed between the work phase (WP) and the recovery phase (RP). The fifth aspect is, The first operating profile (FP) comprises at least one linear function segment (LF) and / or at least one polynomial function segment (PF), wherein the section (K) is an inflection point or connection point of the at least one linear function segment (LF) and the at least one polynomial function segment (PF), in any one of the first to fourth embodiments of the method. The sixth aspect is, The method comprises a step (23) of defining an allowable interval (I) to limit the variation of each of the preceding sections (K), wherein the allowable interval (I) comprises an upper limit (UL) and a lower limit (IL), in any one of the first to fifth embodiments. The seventh aspect is, The method in the sixth embodiment involves the control unit (14) checking whether all of the sections (K) of the first motion profile (FP) of the movable operating members (5,7) are within their respective allowable intervals (I) before calculating the inverse kinematics. The eighth aspect is, The method comprises a step (25) of collecting a plurality of data items relating to a step of modifying the first operating profile (FP), in particular the plurality of data items being used to modify the first operating profile (FP) during the design of the automated machine (1) and / or to understand possible calculation errors, in particular the collected plurality of data items being used to train an artificial intelligence system, in any one of the first to seventh embodiments of the method. The ninth aspect is, The step (21) of changing the control is performed while the automatic machine (1) is stationary, and is performed by any one of the first to eighth embodiments. The tenth aspect is, The step (21) of changing the control is performed by any one of the first to eighth embodiments while the automatic machine (1) is in operation. The eleventh aspect is, The first operating profile (FP) and the second operating profile (SP) have a cam relationship with a master profile (MP), and in particular, the master profile (MP) is a profile of a physical axis or a virtual axis, in any one of the first to tenth embodiments of the method. The twelfth aspect is, The method is in any one of the first to eleventh embodiments, wherein the master profile (MP) is linear, and in particular, the master profile (MP) is a time flow. The 13th aspect is, An automated machine (1) for manufacturing consumer goods (3), The aforementioned automatic machine (1) is At least one electric actuator system (8, 9) and The motor transmission system (12), Movable operating members (5, 7) and In an automatic machine (1) comprising a control unit (14) configured to control the aforementioned electric actuator systems (8, 9), The automatic machine (1) includes an interface device (15) configured to allow a machine operator (O) to change the movement of the movable operating members (5, 7), The automatic machine (1) is configured to carry out the method in any one of the first to twelfth embodiments.

Claims

1. A method for setting at least one movable operating member (5, 7) of an automated machine (1) for manufacturing consumer goods (3), The aforementioned method, Step (16) defines a first operating profile (FP) of the movable operating members (5, 7), and through the first operating profile (FP), at least one processing of the consumer article (3) is performed. Step (17) defines a corresponding second motion profile (SP) for an electric actuator system (8, 9), the electric actuator system (8, 9) is mechanically connected to the movable operating member (5, 7) via a motion transmission system (12) to move the movable operating member (5, 7) having the first motion profile (FP), A step of determining possible defects in the handling of the consumer goods (3) caused by the movable operating members (5, 7), The interface device (15) of the automatic machine (1) modifies the first operation profile (FP) based on the processing defects of the consumer goods (3), and obtains a first modification profile (MFP) of the movable operating members (5, 7), A method comprising the steps of: obtaining a second modified second profile (MSP) to be commanded to the electric actuator system (8, 9) by a control unit (14) via the motion transmission system (12), wherein the inverse kinematics of the first modified profile (MFP) of the movable operating members (5, 7) is calculated by the control unit (14) via the motion transmission system (12), The aforementioned method, The steps include identifying one or more sections (K) of the first operational profile (FP) that can be modified by the interface device (15), A method further comprising the step (23) of defining an allowable interval (I) to limit the change in each of the preceding sections (K), wherein the allowable interval (I) comprises an upper limit (UL) and a lower limit (IL).

2. The method according to claim 1, further comprising a further step (21) of modifying the control to control the electric actuator system (8, 9) to implement a corresponding modified second profile (MSP).

3. The method according to claim 1 or 2, wherein the step of determining the possible defects (18) and / or the step of changing the first operating profile (FP) (19) are performed by a machine operator (O) using the interface device (15) of the automatic machine (1), and the step of determining the possible defects (18) is repeated following the step of changing the first operating profile (FP) (19).

4. The method according to any one of claims 1 to 3, wherein the first operating profile (FP) and the corresponding second operating profile (SP) comprises at least one working phase (WP) and at least one recovery phase (RP), and a step (21) of changing control is performed during the working phase (WP) and the recovery phase (RP).

5. The method according to any one of claims 1 to 4, wherein the first operating profile (FP) comprises at least one linear function segment (LF) and at least one polynomial function segment (PF), and the section (K) is an inflection point or connection point of the at least one linear function segment (LF) and the at least one polynomial function segment (PF).

6. The method according to any one of claims 1 to 5, wherein, before calculating the inverse kinematics, the control unit (14) checks whether all of the sections (K) of the first motion profile (FP) of the movable operating members (5, 7) are within their respective allowable intervals (I).

7. The method according to any one of claims 1 to 6, comprising the step (25) of collecting a plurality of data items relating to a step of modifying the first motion profile (FP), the plurality of data items being used to modify the first motion profile (FP) during the design of the automated machine (1) and / or to understand possible calculation errors, and the collected plurality of data items being used to train an artificial intelligence system.

8. The method according to claim 2, wherein the step of changing the control (21) is performed while the automatic machine (1) is stationary.

9. The method according to claim 2, wherein the step of changing the control (21) is performed while the automatic machine (1) is in operation.

10. The method according to any one of claims 1 to 9, wherein the first operating profile (FP) and the second operating profile (SP) have a cam relationship with a master profile (MP), and the master profile (MP) is a profile of a physical axis or a virtual axis.

11. The method according to claim 10, wherein the master profile (MP) is linear and the master profile (MP) is a time flow.

12. An automated machine (1) for manufacturing consumer goods (3), The aforementioned automatic machine (1) is At least one electric actuator system (8, 9) and Motor transmission system (12), Movable operating members (5, 7) In an automatic machine (1) comprising a control unit (14) configured to control the aforementioned electric actuator systems (8, 9), The automatic machine (1) includes an interface device (15) configured to allow a machine operator (O) to change the movement of the movable operating members (5, 7), The automatic machine (1) is configured to carry out the method described in any one of claims 1 to 11.

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