Design Of Control System For Packaging Box Sorting Machine Based On Electronic Cam Shearin

Based on the actual production line demand of a brewery in Qingdao,a control system of packing sorting machine based on electronic CAM chase scissors is designed,which can be used to sort packing boxes before stacking and preparing for subsequent stacking.When the sorting machine is combined with the palletizing machine,the palletizing speed of the production line will be increased from 50000 bottles/hour to90000 bottles/hour and the packing box is intact.The system solves the problems of low efficiency of traditional palletizing and wear of packing box.The sorter control system is composed of OMRON NJ motion controller,NA touch screen,servo system,etc.The NA touch screen interface is designed by using CX-designer configuration software.It is connected with the touch screen through Ethernet/IP network.The equipment parameters are set on the touch screen,and the work flow of the sorter is set.The operation of the servo motor is controlled through Ether CAT communication,and the five axis manipulator is driven to complete the action of each link of the sorter on the packing box.The main work of this thesis includes the following aspects:(1)The research background,development status at home and abroad,process flow and so on are analyzed in detail,and the hardware configuration of the control system is carried out.This thesis introduces the composition of the sorter,analyzes the system requirements of the sorter,selects the hardware equipment,builds the control system,and introduces the key technologies of the system application.(2)According to the motion characteristics of the sorter,the electronic cam is designed combined with the chasing shear technology to realize the action of the sorter.Firstly,the mathematical model is established according to the technological process of the sorting machine,and the curve formula of the electronic cam is determined.Comparing the speed,acceleration and acceleration of the 3rd,5th and 7th degree polynomial curves,and considering the function of the algorithm and the simplicity of implementation,the 5th degree polynomial is selected to optimize the electronic cam chasing and shearing curve,so as to realize the manipulator to grasp and place the packing box smoothly in the chasing and shearing synchronization area.Because the curve optimized by the 5th degree polynomial will have jump mutation,which results in residual vibration caused by flexible impact,a continuous acceleration and deceleration method is adopted.The algorithm is written as a function block,which is called by Sysmac Studio software to realize accurate control,effectively suppress vibration and reduce impact.(3)According to the actual process flow of the sorter,NJ motion control program and NA touch screen interface are compiled.NJ motion control program includes automatic program,manual program,alarm output program,etc.NA touch screen interface includes manual interface,automatic interface,alarm history and other interfaces.The sorting machine designed in this subject realizes the requirements of high stacking efficiency and low damage of packaging box,and has the functions of monitoring and alarm to ensure the safety of the system.The equipment has been applied to a brewery in Qingdao,which has been recognized by users in terms of safety,functionality and practicability,and has good promotion and application value.