Disclosure of Invention
The invention aims to provide a control method for the packing specification of a stacker, which can conveniently and rapidly switch the packing specification.
Another object of the present invention is to provide a control system for a stacker packing specification, which can switch packing specifications conveniently and rapidly.
The invention provides a control method of a stacker packaging specification, which comprises the following steps:
a servo motor and a servo driver capable of controlling the pushing hands and the compression plate to move are arranged;
establishing an absolute coordinate system in the motion direction of the pushing hands and the compression plate, and setting the corresponding relation between the positions of the pushing hands and the compression plate on the absolute coordinate system and the rotation of the servo motor;
installing a pushing handle and a pushing rod corresponding to the packaging specification;
calculating position data of the pushing hands and the compression plate on an absolute coordinate system according to the packaging specification; and
and controlling the servo driver to drive the servo motor according to the calculated position data.
According to the control method for the packing specification of the stacker, the servo motor and the servo driver are used for controlling the pushing hands and the compression plates to move, an absolute coordinate system is established in the moving direction of the pushing hands and the compression plates, the position data of the pushing hands and the compression plates can be calculated according to the packing specification, and the servo driving servo motor is controlled according to the position data. When the package specification is switched, only the pushing hands and the pushing rods are needed to be replaced, and the data for controlling the servo driver is simply calculated, so that the process is time-saving and labor-saving.
In yet another exemplary embodiment of the control method of stacker packing specifications, the position data includes a start position of the pushing movement, and is calculated by the following formula:
Pfirst ＝0-WP *(Fp +SP )/2；
wherein P isfirst Indicating the starting position of the pushing movement, WP Representing the width of each section of pinna, Fp Representing the number of pushing hands to give way, SP Indicating the number of packaged sheets of the pinna.
In a further exemplary embodiment of the control method of the stacker packing gauge, the position data further includes a start position and an end position of the movement of the compression plate, and is calculated by the following formula:
Wfirst ＝Wzero -WP *(Fp +SP )；
Wend ＝Wzero -WP *(Fp +SP )-Wbag； ；
wherein W isfirst Representing the total travel of the two compression plates from zero to the starting position, Wend Representing the total travel of the two compression plates from the starting position to the ending position, Wzero Represents the zero distance of the compression plate, WP Representing the width of each section of pinna, Fp Representing the number of pushing hands to give way, SP Representing feathersNumber of package sheets, Wbag Representing the width of the mouth of the bag.
In another exemplary embodiment of the control method of the stacker packing specification, an absolute coordinate system is established by a processing unit, and a correspondence relationship between positions of the pushing hands and the compression plates on the absolute coordinate system and rotation of the servo motor is set, the processing unit can calculate position data by the packing specification input thereto, and the processing unit can send a control command to the servo driver according to the position data to drive the servo motor.
In another exemplary embodiment of the control method of the stacker packing specification, the processing unit is a man-machine interface device.
The invention provides a control system for a packing specification of a stacker, wherein the stacker comprises a conveying line capable of conveying feathers along a conveying direction. The control system comprises a push handle, a pair of compression plates, a push rod, a first servo motor, a first servo driver, a second servo motor, a second servo driver and a processing unit. The pushing hands can synchronously move along the conveying direction of the conveying line, and the pushing hands can push out the feathers on the conveying line to a compression position along an outlet direction perpendicular to the conveying direction; a pair of compression plates capable of compressing the plume at the compression position to the width of the package bag in a direction parallel to the conveying direction; the pushing rod can push the feathers compressed by the pair of compression plates into the packaging bag along the outlet direction; the first servo motor can drive the pushing hands to synchronously move with the conveying line along the conveying direction; the first servo driver can control the first servo motor; the second servo motor can drive the pair of compression plates to move along the conveying direction; the second servo driver can control the second servo motor; the processing unit is provided with an absolute coordinate system of the pushing hands and the compression plates in the motion direction, the processing unit is also provided with a corresponding relation between the positions of the pushing hands and the compression plates in the absolute coordinate system and the rotation of the servo motor, the processing unit can calculate the position data of the pushing hands and the compression plates in the absolute coordinate system through the package specifications input into the processing unit, and the processing unit can send control commands to the first servo driver and the second servo driver according to the position data so as to drive the first servo motor and the second servo motor.
In another exemplary embodiment of the control system of the stacker packing gauge, the position data calculated by the processing unit includes a start position of the pushing movement and is calculated by the following formula:
Pfirst ＝0-WP *(Fp +SP )/2；
wherein P isfirst Indicating the starting position of the pushing movement, WP Representing the width of each section of pinna, Fp Representing the number of pushing hands to give way, SP Indicating the number of packaged sheets of the pinna.
In another exemplary embodiment of the control system of the stacker packing gauge, the position data calculated by the processing unit further includes a start position and an end position of the movement of the compression plate, and is calculated by the following formula:
Wfirst ＝Wzero -WP *(Fp +SP )；
Wend ＝Wzero -WP *(Fp +SP )-Wbag； ；
wherein W isfirst Representing the total travel of the two compression plates from zero to the starting position, Wend Representing the total travel of the two compression plates from the starting position to the ending position, Wzero Represents the zero distance of the compression plate, WP Representing the width of each section of pinna, Fp Representing the number of pushing hands to give way, SP Indicating the number of packing sheets of the pinna, Wbag Representing the width of the mouth of the bag.
In another exemplary embodiment of the control system of the stacker packing format, the first servomotor drives the pusher via a drive belt in the conveying direction; the second servo motor drives the pair of compression plates to move along the conveying direction through a screw rod penetrating through the pair of compression plates.
In another exemplary embodiment of the control system of the stacker packing gauge, the processing unit is a human-machine interface device.
Detailed Description
For a clearer understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the drawings, in which like reference numerals refer to identical or structurally similar but functionally identical components throughout the separate views.
In this document, "schematic" means "serving as an example, instance, or illustration," and any illustrations, embodiments described herein as "schematic" should not be construed as a more preferred or advantageous solution.
FIG. 1 is a flow diagram of an exemplary embodiment of a method of controlling stacker packing specifications. Referring to fig. 1, the control method of the stacker packing specification includes the steps of:
s10: a servo motor and a servo driver capable of controlling the pushing hands and the compression plate to move are arranged;
fig. 2 to 5 are schematic views for explaining an operation state of the stacker. Referring to fig. 2 to 5, the stacker comprises a conveyor line capable of conveying the plumes 91 in a conveying direction Y, the pusher 10 is capable of moving synchronously in the conveying direction Y of the conveyor line, and the pusher 10 is also capable of pushing out the plumes 91 on the conveyor line to a compressed position in an outlet direction X perpendicular to the conveying direction Y. The pair of compression plates 20 can compress the plume 91 in the compression position to the width of the package 92 in a direction parallel to the conveying direction Y. The push rod 30 can push the plume 91 compressed by the pair of compression plates 20 into the packing bag 92 in the outlet direction X. In the illustrated embodiment, the pusher 10 is driven to move in synchronization with the conveyor line in the conveying direction Y by a first servo motor 40 and a belt, while the pair of compression plates 20 is driven to move in the conveying direction Y by a second servo motor 60 and a screw penetrating the pair of compression plates 20.
S20: establishing an absolute coordinate system in the motion direction of the pushing hands and the compression plate, and setting the corresponding relation between the positions of the pushing hands and the compression plate on the absolute coordinate system and the rotation of the servo motor;
specifically, the origin of coordinates is selected in the movement direction of the push hand 10 and the compression plate 20, and a coordinate system is established, so that the positions of the push hand 10 and the compression plate 20 in the movement direction can be represented by corresponding coordinate values in the coordinate system. Meanwhile, according to the specific driving mode of the first servo motor 40 and the second servo motor 60 for driving the pushing hands 10 and the pair of compression plates 20, the corresponding relation between the rotation of the first servo motor 40 and the second servo motor 60 and the movement distance of the pushing hands 10 and the pair of compression plates 20 on a coordinate system is calculated, and the process can be operated in a processing unit 80 through a program, so that the automatic processing and calculation are facilitated through the processing unit 80.
S30: installing a pushing handle and a pushing rod corresponding to the packaging specification; the width of the pusher 10 corresponds to the width of the vane 91 on the conveying line, and the width of the pusher 30 corresponds to the width of the vane 91 compressed by the pair of compression plates 20.
S40: calculating position data of the pushing hands and the compression plate on an absolute coordinate system according to the packaging specification;
specifically, the position data includes the start position of the movement of the pusher 10, and is calculated by the following formula:
Pfirst ＝0-WP *(Fp +SP )/2；
wherein P isfirst Indicating the starting position of the movement of the push handle 10, WP Representing the width of each section of pinna, Fp Indicating the number of giving way of the pushing hands 10, SP Indicating the number of packaged sheets of the pinna. Since the pusher 10 moves only in one conveying direction Y, the centering problem needs to be considered in calculating the starting position of the movement of the pusher 10, and thus the above formula is derived.
The position data also includes the start position and end position of the compression plate 20 movement and is calculated by the following formula:
Wfirst ＝Wzero -WP *(Fp +SP )；
Wend ＝Wzero -WP *(Fp +SP )-Wbag； ；
wherein W isfirst Representing the total travel of the two compression plates 20 from zero to the starting position (see figure 3), Wend Representing the total travel of the two compression plates 20 from the start position to the end position (see fig. 4), Wzero Represents the zero distance of the compression plate, WP Representing the width of each section of pinna, Fp Representing the number of pushing hands to give way, SP Indicating the number of packing sheets of the pinna, Wbag Representing the width of the mouth of the bag. By Wfirst And W isend The starting and ending positions of the compression plate 20 on the absolute coordinate system can be calculated.
In an exemplary embodiment, the above formula may be set in a program run by the processing unit 80, and the processing unit 80 may directly calculate the result after inputting the package specification to the processing unit 80.
S50: and controlling the servo driver to drive the servo motor according to the calculated position data.
In an exemplary embodiment, the processor unit may convert the calculation result into a control command for controlling the first and second servomotors 40 and 60, and drive and control the first and second servomotors 40 and 60 by transmitting the control command to the servomotors for controlling the first and second servomotors 40 and 60, which in turn can drive the pusher 10 and the pair of compression plates 20 to move in the correct positions to achieve the switching of the package specifications.
According to the control method for the packing specification of the stacker, the servo motor and the servo driver are used for controlling the movement of the pushing hands 10 and the compression plates 20, an absolute coordinate system is established in the movement direction of the pushing hands 10 and the compression plates 20, the position data of the pushing hands 10 and the compression plates 20 can be calculated according to the packing specification, and the servo driving servo motor is controlled according to the position data. Only the pusher 10 and the pusher 30 need be replaced when switching package specifications, and the data for controlling the servo driver is simply calculated, and the process is time-saving and labor-saving.
In the illustrative embodiment, the processing unit 80 is a human interface device. The man-machine interface device is convenient for directly inputting the packaging specification on site, and is convenient and rapid to operate when the specification is switched.
The invention provides a control system for a stacker packaging specification, wherein the stacker comprises a conveying line capable of conveying feathers 91 along a conveying direction Y. Fig. 6 is a block diagram illustrating a control system for a stacker packing specification. Referring to fig. 2 to 6, the control system includes a push handle 10, a pair of compression plates 20, a push rod 30, a first servo motor 40, a first servo driver 50, a second servo motor 60, a second servo driver 70, and a processing unit 80.
The pusher 10 is able to move synchronously along the conveying direction Y of the conveyor line, and the pusher 10 is also able to push out the feathers 91 on the conveyor line to a compressed position along an outlet direction X perpendicular to the conveying direction Y. The pair of compression plates 20 can compress the plume 91 in the compression position to the width of the package 92 in a direction parallel to the conveying direction Y. The push rod 30 can push the plume 91 compressed by the pair of compression plates 20 into the packing bag 92 in the outlet direction X.
The first servomotor 40 is capable of driving the pusher 10 in a synchronous movement with the conveyor line along the conveying direction Y. The first servo driver 50 can control the first servo motor 40. In the exemplary embodiment, the first servomotor 40 drives the pusher 10 in the conveying direction Y via a belt.
The second servo motor 60 can drive the pair of compression plates 20 to move in the conveying direction Y. The second servo driver 70 can control the second servo motor 60. In the illustrated embodiment, the second servo motor 60 drives the pair of compression plates 20 to move in the conveying direction Y by a screw penetrating the pair of compression plates 20.
The program running on the processing unit 80 establishes an absolute coordinate system of the pushing hands 10 and the compression plates 20 in the moving direction, and is also provided with a correspondence relation between the positions of the pushing hands 10 and the compression plates 20 in the absolute coordinate system and the rotation of the servo motors, the processing unit 80 can calculate the position data of the pushing hands 10 and the compression plates 20 in the absolute coordinate system by the package specifications inputted thereto, and the processing unit 80 can send control commands to the first servo driver 50 and the second servo driver 70 according to the position data to drive the first servo motor 40 and the second servo motor 60.
According to the control method for the packing specification of the stacker, the servo motor and the servo driver are used for controlling the movement of the pushing hands 10 and the compression plates 20, an absolute coordinate system is established in the movement direction of the pushing hands 10 and the compression plates 20 through the processing unit 80, the processing unit 80 can calculate the position data of the pushing hands 10 and the compression plates 20 according to the packing specification, and the servo driver is controlled to drive the servo motor according to the position data. Only the pusher 10 and the pusher 30 need to be replaced and the package specifications input to the processing unit 80 when the package specifications are switched, and the process is time-saving and labor-saving.
In the exemplary embodiment, the position data calculated by the processing unit 80 includes the starting position of the movement of the pusher 10 and is calculated by the following formula:
Pfirst ＝0-WP *(Fp +SP )/2；
wherein P isfirst Representation pushInitial position of hand 10 movement, WP Representing the width of each section of pinna, Fp Indicating the number of giving way of the pushing hands 10, SP Indicating the number of packaged sheets of the pinna. Since the pusher 10 moves only in one conveying direction Y, the centering problem needs to be considered in calculating the starting position of the movement of the pusher 10, and thus the above formula is derived.
The position data calculated by the processing unit 80 also includes a start position and an end position of the movement of the compression plate 20, and is calculated by the following formula:
Wfirst ＝Wzero -WP *(Fp +SP )；
Wend ＝Wzero -WP *(Fp +SP )-Wbag；
wherein W isfirst Representing the total travel, W, of the two compression plates 20 from zero to the starting positionend Representing the total travel, W, of the two compression plates 20 from the starting position to the ending positionzero Represents the zero distance of the compression plate, WP Representing the width of each section of pinna, Fp Representing the number of pushing hands to give way, SP Indicating the number of packing sheets of the pinna, Wbag Representing the width of the mouth of the bag. By Wfirst And W isend The position of the compression plate 20 on the absolute coordinate system can be calculated.
In the illustrative embodiment, the processing unit 80 is a human interface device. The man-machine interface device is convenient for directly inputting the packaging specification on site, and is convenient and rapid to operate when the specification is switched.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical examples of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications, such as combinations, divisions or repetitions of features, without departing from the technical spirit of the present invention are included in the scope of the present invention.