Automatic paper adding apparatus and control method thereof

Abstract

The application discloses an automatic paper-separator adding device and a control method thereof, and belongs to the technical field of packaging. The automatic paper-separator adding device comprises a six-axis robot, a suction cup clamp, a paper-separator forming mechanism and a paper-separator storage mechanism. The suction cup clamp comprises a supporting assembly fixed to the six-axis robot, and a front suction cup assembly and a side suction cup assembly fixed to the supporting assembly respectively. The front suction cup assembly is used for adsorbing the main page of the paper separator, and the side suction cup assembly can adsorb two side edge folds of the paper separator. The six-axis robot drives the suction cup clamp to move or rotate. The paper-separator forming mechanism comprises two guide members arranged oppositely, and a forming space is formed between the two guide members. The six-axis robot drives the suction cup clamp to pass through the forming space, so that the two guide members respectively bend the two side edge folds of the paper separator to the side suction cup assembly. The paper-separator storage mechanism is arranged on one side of the six-axis robot. The automatic paper-separator adding device and the control method thereof have high efficiency and automation degree, and can save manpower.

Description

Technical Field

[0001] This invention relates to the field of packaging technology, and in particular to an automatic paper feeding device and its control method. Background Technology

[0002] In the packaging industry, the requirements for product appearance are becoming increasingly stringent, especially during transportation. Scratches on the product's surface are unacceptable. In other words, paper dividers prevent items from being squeezed and deformed, scratched by collisions, or having their labels abraded during transport. Therefore, adding paper dividers inside boxes has become an essential choice. Currently, C-shaped or C-shaped paper dividers are commonly used in the packaging technology field.

[0003] In existing technology, the method of adding paper dividers into boxes is usually done manually. Specifically, the operator takes a flat paper divider, then manually bends both ends of the paper divider to make it C-shaped or U-shaped, and then puts the bent paper divider into an empty box, and finally puts the product into the empty box; or, the operator first puts the product into an empty box, leaving space for the paper divider, then bends the paper divider and puts the bent paper divider into the box to separate the product.

[0004] It is evident that the existing technology of manually placing paper dividers is inefficient, requires a high level of labor intensity for operators, has a low degree of automation, and consumes a large amount of manpower. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic paper feeding and separating device and its control method, which has high efficiency and a high degree of automation, and can save manpower.

[0006] Based on the above concept, the technical solution adopted by this invention is as follows:

[0007] Automatic paper feeding separator equipment includes:

[0008] Six-axis robot;

[0009] The suction cup clamp includes a support assembly fixed to the six-axis robot and a front suction cup assembly and a side suction cup assembly respectively fixed to the support assembly. The front suction cup assembly is used to adsorb the main page of the paper divider, and the side suction cup assembly is used to adsorb the two side folds of the paper divider. The six-axis robot drives the suction cup clamp to move or rotate.

[0010] The paper divider forming mechanism includes two guide members arranged opposite to each other, forming a forming space between the two guide members. The six-axis robot drives the suction cup clamp through the forming space, so that the two guide members respectively bend the two sides of the paper divider to the side suction cup assembly.

[0011] A paper divider storage mechanism is located on one side of the six-axis robot and is used to store paper dividers.

[0012] Optionally, each of the guide members has an arc segment, and the two arc segments are outwardly flared and bend in opposite directions.

[0013] Optionally, each of the guide members includes a connecting portion, two guide rods respectively connected to the connecting portion, and a reinforcing plate connected between the two guide rods, and each guide rod has an arc-shaped segment at the end away from the connecting portion.

[0014] Optionally, the paper separator forming mechanism further includes two uprights, and two guide members correspond one-to-one with the two uprights. Each guide member has a third strip-shaped hole extending along a preset direction. The guide member is fixed to the corresponding upright by a fixing member passing through the third strip-shaped hole. The preset direction is perpendicular to the length direction of the upright.

[0015] Optionally, it also includes a box conveying mechanism, which is located on one side of the paper divider forming mechanism and is used to convey the box to a preset position. The six-axis robot is used to drive the suction cup clamp to move to the preset position.

[0016] Optionally, it also includes a box positioning mechanism, which is fixed on the box conveying mechanism and is used to detect whether there is a box at the preset position.

[0017] Optionally, it also includes a glue spraying mechanism, wherein the nozzle of the glue spraying mechanism is located on one side of the paper separator forming mechanism and is used to spray glue onto the formed paper separator.

[0018] Optionally, the paper divider storage mechanism includes a base plate, a timing belt disposed on the base plate, and a booster plate disposed on the timing belt, wherein the timing belt is used to place the paper divider.

[0019] Optionally, the front suction cup assembly includes a plurality of front suction cups respectively disposed on the support assembly, the adsorption surfaces of the plurality of front suction cups being located on the same plane; the side suction cup assembly includes a first side suction cup and a second side suction cup respectively disposed on the support assembly, the first side suction cup and the second side suction cup being respectively disposed on both sides of the support assembly, and the adsorption surface of the first side suction cup being parallel to the adsorption surface of the second side suction cup and perpendicular to the adsorption surface of the front suction cup.

[0020] A control method for an automatic paper feeding divider, used to control the aforementioned automatic paper feeding divider, is characterized by comprising the following steps:

[0021] The six-axis robot is controlled to move the suction cup gripper to the paper divider storage mechanism, and the front suction cup assembly of the suction cup gripper is controlled to adsorb the main page of the paper divider.

[0022] The six-axis robot is controlled to drive the suction cup clamp through the forming space, and the two guide members move the two side folds to make the paper divider C-shaped;

[0023] The side suction cup assembly is controlled to adsorb the two side flaps;

[0024] The six-axis robot is controlled to move the suction cup clamp to the box and place the formed paper divider into the box.

[0025] The automatic paper feeding separator and its control method proposed in this invention have at least the following beneficial effects:

[0026] The automatic paper divider feeding device provided in this embodiment uses a suction cup clamp to adsorb the paper divider, a paper divider forming mechanism to bend the paper divider into a C-shape, and the suction cup clamp can also adsorb the side folds of the formed paper divider to prevent the paper divider from returning to its original shape during movement. A six-axis robot is used to drive the suction cup clamp to move and put the formed paper divider into the box. This realizes the automatic placement of paper dividers, reduces the operation intensity of operators, has high efficiency and automation, and does not require a lot of manpower. Attached Figure Description

[0027] Figure 1 This is a top view of the automatic paper feeding separator provided in an embodiment of the present invention;

[0028] Figure 2 This is a front view of the automatic paper feeding separator provided in an embodiment of the present invention;

[0029] Figure 3 This is a rear view of the automatic paper feeding separator provided in an embodiment of the present invention;

[0030] Figure 4 This is a side view of the automatic paper feeding separator provided in an embodiment of the present invention;

[0031] Figure 5 The three-dimensional automatic paper feeding separator provided in the embodiments of the present invention is Figure 1 ;

[0032] Figure 6 This is a schematic diagram of the structure of a partial automatic paper feeding separator provided in an embodiment of the present invention;

[0033] Figure 7 This is an assembly diagram of the glue spraying mechanism and the paper separator forming mechanism provided in the embodiments of the present invention;

[0034] Figure 8 This is a schematic diagram of the suction cup mechanism provided in an embodiment of the present invention at one angle;

[0035] Figure 9This is a schematic diagram of the suction cup mechanism provided in another embodiment of the present invention from another angle;

[0036] Figure 10 This is an exploded view of the suction cup mechanism provided in an embodiment of the present invention;

[0037] Figure 11 This is a rear view of the suction cup mechanism provided in an embodiment of the present invention;

[0038] Figure 12 This is a side view of the suction cup mechanism provided in an embodiment of the present invention;

[0039] Figure 13 This is a usage status reference for the suction cup mechanism provided in the embodiments of the present invention. Figure 1 ;

[0040] Figure 14 This is a usage status reference for the suction cup mechanism provided in the embodiments of the present invention. Figure 2 ;

[0041] Figure 15 This is a usage status reference for the suction cup mechanism provided in the embodiments of the present invention. Figure 3 ;

[0042] Figure 16 This is a schematic diagram of the paper divider storage mechanism provided in an embodiment of the present invention;

[0043] Figure 17 This is a top view of the paper divider storage mechanism provided in an embodiment of the present invention;

[0044] Figure 18 This is the present invention. Figure 17 The AA section view shown;

[0045] Figure 19 This is the present invention. Figure 18 The BB section view shown;

[0046] Figure 20 This is a diagram showing the positional relationship between the box conveying mechanism, the paper partition forming mechanism, and the box positioning mechanism provided in this embodiment of the invention.

[0047] Figure 21 This is the present invention. Figure 20 Side view of the structure shown;

[0048] Figure 22 This is a usage status reference for the automatic paper feeding separator provided in the embodiments of the present invention. Figure 1 ;

[0049] Figure 23 This is a usage status reference for the automatic paper feeding separator provided in the embodiments of the present invention. Figure 2 .

[0050] In the picture:

[0051] 10. Six-axis robot; 20. Suction cup gripper; 1. Support assembly; 11. Main frame; 12. Bracket; 121. Support plate; 122. U-shaped plate; 1221. Second strip hole; 123. Baffle; 1231. Clearance hole; 13. Adjustable distance frame; 131. First strip hole; 132. Reinforcing rib; 2. Front suction cup assembly; 21. Front suction cup; 3. Side suction cup assembly; 31. First side suction cup; 32. Second side suction cup; 4. Bolt; 5. Driving component; 6. Fixing plate; 7. Vacuum generator; 30. Paper separator forming mechanism; 301. Guide component; 3011. Arc-shaped segment; 3012. Connecting part; 3013. Guide rod; 3014. Reinforcing plate; 3015. Third strip hole; 302. Upright pole; 40. Paper separator storage mechanism; 401. Base plate; 402. Synchronous belt; 403. Push plate; 4031. Vertical plate; 4032, Horizontal plate; 404, Transition plate; 405, Tensioning wheel; 406, Driven shaft; 50, Box conveying mechanism; 60, Box positioning mechanism; 70, Glue spraying mechanism; 701, Nozzle; 80, Fixing frame; 100, Main page; 200, Side fold; 300, Box; 400, Paper divider. Detailed Implementation

[0052] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0053] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0056] Example 1

[0057] This embodiment provides an automatic paper feeder device for automatically adding paper feeders into a box. It has high efficiency and a high degree of automation, and can save manpower. In this embodiment, the paper 400 includes a main body 100 and two side flaps 200, wherein the two side flaps 200 are respectively fixed to both ends of the main body 100.

[0058] like Figures 1 to 4 As shown, the automatic paper separator feeding device includes a six-axis robot 10, a suction cup clamp 20, a paper separator forming mechanism 30, and a paper separator storage mechanism 40.

[0059] The six-axis robot 10 has multiple degrees of freedom and is used to move or rotate the suction cup gripper 20 in space. In this embodiment, the six-axis robot 10 is fixed to a mounting frame 80, which is located on one side of the paper divider storage mechanism 40. Specifically, the suction cup gripper 20 includes a support assembly 1 fixed to the six-axis robot 10 and a front suction cup assembly 2 and a side suction cup assembly 3 respectively fixed to the support assembly 1. The front suction cup assembly 2 is used to adsorb the main page 100 of the paper divider 400, and the side suction cup assembly 3 is used to adsorb the two side folds 200 of the paper divider 400, so that the suction cup gripper 200 can shape the paper divider 400 to prevent it from falling apart. The six-axis robot 10 moves or rotates the front suction cup assembly 2 and the side suction cup assembly 3 through the support assembly 1. Specifically, the six-axis robot 10 moves, lifts, or rotates the front suction cup assembly 2 and the side suction cup assembly 3.

[0060] The aforementioned paper divider forming mechanism 30 includes two guide members 301 arranged opposite to each other. A forming space is formed between the two guide members 301. The six-axis robot 10 drives the suction cup clamp 20 through the forming space, causing the two guide members 301 to bend the two side folds 200 of the paper divider 400 to the side suction cup assembly 3, thereby enabling the side suction cup assembly 3 to adsorb the two side folds 200. In this embodiment, the unbent paper divider 400 is rectangular in shape. The distance between the two guide members 301 is greater than the length of the main body 100 and less than the length of the paper divider 400. When the paper divider 400 passes through the forming space, the two side folds 200 contact the two guide members 301 respectively, and as the suction cup clamp 20 continues to move, the two side folds 200 bend towards the main body, making the paper divider 400 C-shaped or C-shaped. The paper divider storage mechanism 40 is located on one side of the six-axis robot 10 and is used to store paper dividers. The six-axis robot 10 is used to drive the suction cup gripper 20 to move to the paper divider storage mechanism 40 and to adsorb the paper dividers 400.

[0061] When using the automatic paper divider device provided in this embodiment, firstly, control the six-axis robot 10 to move the suction cup clamp 20 to the paper divider storage mechanism 40, and control the front suction cup assembly 2 of the suction cup clamp 20 to adsorb the main body 100 of the paper divider 400. At this time, the angle between the side folds 200 of the paper divider 400 and the main body 100 is 180 degrees. Then, control the six-axis robot 10 to move the suction cup clamp 20 with the paper divider 400 adsorbed through the forming space, and the two side folds 200 are moved by the two guide members 301 so that the paper divider 400 is C-shaped or C-shaped. Next, after the paper divider 400 is C-shaped or C-shaped, control the side suction cup assembly 3 to adsorb the two side folds 200 so that the paper divider 400 can maintain the C-shape. Finally, control the six-axis robot 10 to move the suction cup clamp 20 and the formed paper divider 400 to the box 300, and put the formed paper divider 400 into the box 300. It should be noted that both the six-axis robot 10 and the suction cup gripper 20 can be controlled by a controller or a host. For specific control methods, please refer to the existing technology. This embodiment will not be described in detail here.

[0062] The automatic paper divider device provided in this embodiment uses a suction cup clamp 20 to adsorb the paper divider 400, a paper divider forming mechanism 30 to bend the paper divider 400 into a C-shape, and the suction cup clamp 20 can also adsorb the side folds 200 of the formed paper divider 400 to prevent the paper divider 400 from returning to its original shape during movement. A six-axis robot 10 is used to drive the suction cup clamp 20 to move and put the formed paper divider 400 into the box 300. This realizes the automatic placement of the paper divider 400, reduces the operator's workload, has high efficiency and automation, and does not require a lot of manpower.

[0063] Optionally, such as Figure 5 and Figure 6 As shown, each guide member 301 has an arc-shaped segment 3011. The two arc-shaped segments 3011 are outwardly flared and bend in opposite directions. The arc-shaped segments 3011 can prevent scratching the side flaps 200. Setting the two arc-shaped segments 3011 to be outwardly flared allows them to smoothly contact the two side flaps 200 and also prevents the guide member 301 from contacting the main page 100 due to movement deviation. In this embodiment, the distance between the two arc-shaped segments 3011 gradually decreases along the movement direction of the suction cup clamp 20 through the forming space.

[0064] In this embodiment, as Figure 7 As shown, each guide member 301 includes a connecting portion 3012, two guide rods 3013 connected to the connecting portion 3012, and a reinforcing plate 3014 connected between the two guide rods 3013. The two guide rods 3013 are spaced apart in the vertical direction, and each guide rod 3013 has an arc-shaped segment 3011 at its end away from the connecting portion 3012. The design of the guide rods 3013 ensures contact with the side fold 200 while minimizing the contact area, reducing the likelihood of the guide rods 3013 scratching the paper divider 400. Furthermore, the arc-shaped surface of the guide rods 3013 prevents damage to the side fold 200. The guide member 301, with its simple structure and light weight, is easy to move, install, and disassemble. The reinforcing plate 3014 prevents the guide rods 3013 from wobbling, improving the stability of the guide member 301.

[0065] Optionally, please continue to see Figure 6 The paper separator forming mechanism 30 also includes two uprights 302. Two guide members 301 correspond one-to-one with the two uprights 302. Each guide member 301 has a third strip-shaped hole 3015 extending along a preset direction. The guide member 301 is fixed to its corresponding upright 302 by a fixing member passing through the third strip-shaped hole 3015, allowing the connection position between the guide member 301 and the upright 302 to be variable in the preset direction. This, in turn, allows the distance between the two guide members 301 to be variable, enabling the paper separator forming mechanism 30 to be applicable to paper separators 400 of different sizes, thus providing versatility. The preset direction is perpendicular to the length direction of the uprights 302 and the movement direction of the suction cup clamp 20 as it passes through the forming space. In this embodiment, the third strip hole 3015 is provided on the connecting part 3012. The connecting part 3012 is plate-shaped and extends in a preset direction. The guide rod 3013 of one guide member 301 is provided at one end of the connecting part 3012 near the other guide member 301 to prevent interference with the movement of the suction cup clamp 20.

[0066] In this embodiment, a crossbar (not shown) connects the two uprights 302, so that the distance between the two uprights 302 is fixed.

[0067] like Figure 8 As shown, the suction cup clamp 20 includes a support assembly 1, a front suction cup assembly 2, and a side suction cup assembly 3.

[0068] The support assembly 1 supports the front suction cup assembly 2 and the side suction cup assembly 3. The front suction cup assembly 2 includes multiple front suction cups 21 respectively disposed on the support assembly 1. The suction surfaces of the multiple front suction cups 21 are located on the same plane, and the multiple front suction cups 21 are used to adsorb the main page 100 of the paper divider 400. In this embodiment, four front suction cups 21 are provided, and the four front suction cups 21 are spaced apart to improve the reliability of adsorbing the main page 100.

[0069] like Figure 9 As shown, the side suction cup assembly 3 includes a first side suction cup 31 and a second side suction cup 32. The first side suction cup 31 and the second side suction cup 32 are respectively disposed on the support assembly 1, and the first side suction cup 31 and the second side suction cup 32 are respectively disposed on both sides of the support assembly 1. The adsorption surface of the first side suction cup 31 is parallel to the adsorption surface of the second side suction cup 32 and perpendicular to the adsorption surface of the front suction cup 21. That is, the adsorption surface of the first side suction cup 31 is parallel to the adsorption surface of the second side suction cup 32. The second side suction cup 32 is used to adsorb one side fold 200 of the paper divider 400 and the other side fold 200 of the paper divider 400. The front suction cup 21 is located on the front of the support assembly 1. The first and second side suction cups 31 and 32 are located on both sides of the support component 1, so that the front suction cup 21, the first side suction cup 31 and the second side suction cup 32 form a semi-enclosed structure, which facilitates the adsorption of the bent paper divider 400. The arrangement of the first side suction cup 31 and the second side suction cup 32 can keep the bent side fold 200 bent and prevent it from rotating relative to the main page 100 during movement.

[0070] It should be noted that in this embodiment, the adsorption ends of the front suction cup 21, the first side suction cup 31, and the second side suction cup 32 are all positioned away from the support component 1 to prevent the support component 1 from obstructing the adsorption paper spacer 400. It should also be noted that the adsorption surface of the front suction cup 21 is the end face of its adsorption end, the adsorption surface of the first side suction cup 31 is the end face of its adsorption end, and the adsorption surface of the second side suction cup 32 is the end face of its adsorption end.

[0071] The suction cup clamp 20 provided in this embodiment uses the front suction cup 21 to adsorb the main body 100 of the paper divider 400, and the first side suction cup 31 and the second side suction cup 32 to adsorb the two side folds 200 of the paper divider 400. This prevents the two side folds 200 of the formed paper divider 400 from rotating relative to the main body 100, thereby allowing the paper divider 400 to maintain a C-shape or C-shape during movement. This facilitates the shaping of the paper divider 400, improves the success rate of bending the paper divider 400, and also makes it easier to put the formed paper divider 400 into a carton.

[0072] Please continue reading Figure 9 Multiple first side suction cups 31 and multiple second side suction cups 32 are provided to improve the reliability of adsorbing the side folds 200. Furthermore, the multiple first side suction cups 31 are spaced apart, and the multiple second side suction cups 32 are spaced apart, with the orientation of the first side suction cups 31 opposite to the orientation of the second side suction cups 32, to facilitate adsorption of the two side folds 200. In some embodiments, the orientation of the first side suction cup 31 can be the direction from the connecting end of the first side suction cup 31 to the adsorption end; similarly, the orientation of the second side suction cup 32 can be the direction from the connecting end of the second side suction cup 32 to the adsorption end. In this embodiment, two first side suction cups 31 and two second side suction cups 32 are provided.

[0073] Please continue reading Figure 9 The support assembly 1 includes a main frame 11 and two brackets 12 adjustablely connected to the main frame 11 in a first direction. That is, the connection position of each bracket 12 to the main frame 11 is adjustable in the first direction to improve the versatility of the support assembly 1. A six-axis robot 10 is connected to the main frame 11. The two brackets 12 are located on opposite sides of the main frame 11. A portion of the front suction cups 21 and multiple first side suction cups 31 are connected to one bracket 12, while another portion of the front suction cups 21 and multiple second side suction cups 32 are connected to the other bracket 12. In this embodiment, two front suction cups 21 are connected to one bracket 12, and the other two front suction cups 21 are connected to the other bracket 12. The first direction is parallel to the extension direction of the main frame 11, making the height of the brackets 12 adjustable, thereby making the heights of the front suction cups 21, the first side suction cups 31, and the second side suction cups 32 adjustable.

[0074] In some embodiments, please continue to see Figure 9The support assembly 1 also includes multiple adjustable brackets 13, which are respectively connected to the main frame 11. The connection position of each adjustable bracket 13 to the main frame 11 is adjustable in a first direction, that is, each adjustable bracket 13 is adjustablely connected to the main frame 11 in a first direction. Each bracket 12 is connected to the main frame 11 through at least one adjustable bracket 13 to achieve positional adjustment of the bracket 12 in the first direction. In some embodiments, the main frame 11 has an elongated hole extending along the first direction, and the adjustable bracket 13 is fixed in the elongated hole by fasteners such as studs. Furthermore, the connection position of each bracket 12 to the adjustable bracket 13 is adjustable in a second direction, that is, the connection position of the bracket 12 to the adjustable bracket 13 is adjustable, allowing the bracket 12 to move closer to or further away from the main frame. This makes the suction cup clamp 20 suitable for paper dividers 400 of different sizes of main pages 100, improving the versatility of the suction cup clamp 20. The second direction is perpendicular to the first direction. The second direction can also be understood as the width direction of the main frame 11 or the arrangement direction of the first side suction cup 31 and the second side suction cup 32.

[0075] In some embodiments, such as Figure 9 or Figure 10 As shown, the adjusting frame 13 has a first strip-shaped hole 131 extending along the second direction. The bracket 12 is connected to the adjusting frame 13 by bolts 4 passing through the first strip-shaped hole 131, making the structure of the support assembly 1 simpler. In this embodiment, multiple first strip-shaped holes 131 can be provided to ensure the connection strength between the adjusting frame 13 and the bracket 12. Multiple bolts 4 can be provided to further improve the connection reliability.

[0076] In this embodiment, the adjusting frame 13 has an L-shaped structure. The vertical section of the adjusting frame 13 is fixed to the main frame 11, and the bracket 12 is connected to the horizontal section of the adjusting frame 13. In some embodiments, a reinforcing rib 132 is also connected between the vertical section and the horizontal section to improve the strength of the adjusting frame 13 and also to improve the load-bearing capacity of the adjusting frame 13.

[0077] Optionally, please continue to see Figure 9 or Figure 10 Each support 12 is connected to the main frame 11 by two adjustable brackets 13. The two adjustable brackets 13 are spaced apart along the extension direction of the main frame 11, and one adjustable bracket 13 is connected to the top of the support 12 and the other adjustable bracket 13 is connected to the bottom of the support 12 to ensure the balance and stability of the support 12.

[0078] like Figure 10As shown, the suction cup clamp 20 also includes two driving components 5, each corresponding to one of the two brackets 12. Each driving component 5 is fixed to its corresponding bracket 12. The first side suction cup 31 is fixed to the output end of one driving component 5 and is driven by the driving component 5 to move in the second direction. That is, the first side suction cup 31 is connected to the bracket 12 via a driving component 5. Driving the first side suction cup 31 to move in the second direction via the driving component 5 allows for fine-tuning of the second side suction cup 31 in the second direction, facilitating successful adsorption of the side fold 200. Similarly, the second side suction cup 32 is fixed to the output end of the other driving component 5 and is driven by the driving component 5 to move in the second direction. That is, the second side suction cup 32 is connected to the bracket 12 via a driving component 5. Driving the second side suction cup 32 to move in the second direction via the driving component 5 allows for fine-tuning of the second side suction cup 32 in the second direction, facilitating successful adsorption of the side fold 200. In this embodiment, the driving component 5 is a cylinder, linear motor, or other component capable of linear drive.

[0079] In this embodiment, the driving component 5 can drive the side flaps 200 to move, such as driving the two side flaps 200 to move away from each other or move closer to each other. During use, adhesive is sprayed on the side flaps 200. After the paper spacer 400 is placed into the box, the driving component 5 drives the two side flaps 200 to move away from each other so as to stick the two side flaps 200 to the inner wall of the box 300.

[0080] Optionally, please continue to see Figure 10 The support 12 includes a support plate 121 and a U-shaped plate 122. The support plate 121 is connected to the adjustable frame 13. In some embodiments, the support plate 121 is I-shaped, and an adjustable frame 13 is connected to the upper and lower ends of the support plate 121 respectively. The U-shaped plate 122 has two opposing side walls, and one side wall of the U-shaped plate 122 is provided with a second strip hole 1221 extending in a second direction. The U-shaped plate 122 is fixed to the middle of the support plate 121 by bolts 4 passing through the second strip hole 1221, so that the connection position between the U-shaped plate 122 and the support plate 121 is variable, thereby improving the applicability of the suction cup clamp 20. Furthermore, the front suction cup 21 is fixed to the support plate 121, specifically in the middle of the support plate 121, and the driving component 5 is fixed to the other side wall of the U-shaped plate 122. By setting the U-shaped plate 122, the distance between the front suction cup 21 and the first side suction cup 31 or the second side suction cup 32 is larger, thereby enabling the first side suction cup 31 and the second side suction cup 32 to adsorb the middle of the side fold 200, thus improving the adsorption effect of the side fold 200.

[0081] Optionally, such as Figures 11 to 13As shown, the bracket 12 also includes a baffle 123 fixed to the support plate 121. The baffle 123 is arranged parallel to the adsorption surface of the front suction cup 21, and the baffle 123 is fixed to the upper and lower ends of the support plate 121 respectively. The baffle 123 and the U-shaped plate 122 are located on both sides of the support plate 121, and the baffle 123 is provided with a clearance hole 1231 through which the front suction cup 21 passes. The baffle 123 is used to support the main page 100 of the paper divider 400 to prevent the main page 100 from being deformed by the front suction cup 21. In addition, it can also prevent the main page 100 from being deformed by the first side suction cup 31 or the second side suction cup 32. In some embodiments, the number of clearance holes 1231 is the same as the number of front suction cups 21, and each front suction cup 21 passes through one clearance hole 1231.

[0082] like Figure 10 As shown, each drive unit 5 has a fixed plate 6 fixedly connected to its output end. Multiple first side suction cups 31 and multiple second side suction cups 31 are provided. Multiple first side suction cups 31 are fixedly connected to one fixed plate 6 at intervals along a first direction, and multiple second side suction cups 31 are fixedly connected to another fixed plate 6 at intervals along the first direction. By setting the fixed plates 6, one drive unit 5 can simultaneously drive multiple first side suction cups 31 or multiple second side suction cups 32.

[0083] Optionally, the suction cup clamp 20 further includes a vacuum generator 7, which generates suction. The front suction cup 21, the first side suction cup 31, and the second side suction cup 32 are respectively connected to the vacuum generator 7. In some embodiments, the vacuum generator 7 is fixed on the main frame 11.

[0084] When using the suction cup clamp 20 provided in this embodiment, the front suction cup 21 can first be used to adhere the main page 100 of the paper spacer 400. At this time, the positional relationship between the paper spacer 400 and the suction cup clamp 20 is as follows: Figure 13 and Figure 14 As shown, the two side folds 200 of the paper spacer 400 are then bent manually or by other means, so that the two side folds 200 are in the following position. Figure 15 As shown, the entire paper divider 400 is C-shaped or C-shaped. After the side folds 200 are bent, the two side folds 200 are attracted by the first side suction cup 31 and the second side suction cup 32 respectively, so that the paper divider 400 maintains the C-shape or C-shape. This ensures that the shape of the paper divider 400 does not change when other mechanisms move the suction cup clamp 20, which is convenient for shaping the paper divider 400, improves the success rate of bending the paper divider 400, and also makes it easier to put the formed paper divider 400 into a carton.

[0085] In this embodiment, the automatic paper divider feeding device also includes a box conveying mechanism 50. The box conveying mechanism 50 is located on one side of the paper divider forming mechanism 30 and is used to convey the box 300 to a preset position. The six-axis robot 10 is used to drive the suction cup clamp 20 to move to the preset position. In this embodiment, the specific structure of the box conveying mechanism 50 can be a conveying structure in the prior art. This embodiment provides a box conveying mechanism 50, which includes a mounting frame, a conveyor belt mounted on the mounting frame, and a motor that drives the conveyor belt to move. The box 300 is placed on the conveyor belt to be conveyed to the preset position. It should be noted that the preset position can be the position on the mounting frame. When the conveyor belt moves the box 300 to the preset position, the conveyor belt is controlled to stop moving. At this time, the box 300 is stationary at the preset position. After the paper divider 400 is placed into the box 300, the conveyor belt can continue to be controlled to move the box 300 containing the paper divider 400 to the next workstation.

[0086] Furthermore, such as Figure 4 As shown, the automatic paper feeding and separating device also includes a box positioning mechanism 60. The box positioning mechanism 60 is fixed to the box conveying mechanism 50, specifically fixed to the mounting frame, and will not move with the conveyor belt. The box positioning mechanism 60 is used to detect whether the box 300 has reached a preset position, or in other words, to detect whether a box exists at the preset position. The box positioning mechanism 60 can be a structure found in the prior art, such as an infrared sensor, etc., and this embodiment does not limit it. In this embodiment, two box positioning mechanisms 60 are provided, and the two box positioning mechanisms 60 are spaced apart on both sides of the mounting frame, and the arrangement direction of the two box positioning mechanisms 60 is perpendicular to the moving direction of the conveyor belt.

[0087] In this embodiment, as Figure 7 As shown, the automatic paper divider feeding device also includes a glue spraying mechanism 70. The nozzle of the glue spraying mechanism 70 is located on one side of the paper divider forming mechanism 30, specifically downstream of the paper divider forming mechanism 30, and is used to spray glue onto the formed paper divider 400 to facilitate adhesion of the paper divider 400 to the inner wall of the box body 300, ensuring good fixation between the paper divider 400 and the box body 300. Optionally, the glue spraying mechanism 70 includes two nozzles 701, which are arranged opposite each other, and the distance between the two nozzles 701 is greater than the length of the main body 100. In this embodiment, each nozzle 701 is fixed to a column 302 by a mounting post and a mounting plate.

[0088] Furthermore, the automatic paper separator feeding device also includes a paper separator detection component (not shown). The paper separator detection component is fixed on the nozzle 701 of the glue spraying mechanism 70 or on the paper separator forming mechanism 30. It is used to detect whether there is a paper separator 400 in front of the nozzle 701. When there is a paper separator 400, the glue spraying mechanism 70 is controlled to spray glue onto the paper separator 400 through the nozzle 701.

[0089] like Figures 16 to 18 As shown, the paper divider storage mechanism 40 includes a base plate 401, a synchronous belt 402 disposed on the base plate 401, and a pusher plate 403 disposed on the synchronous belt 402. The synchronous belt 402 is used to hold the paper dividers and is movable relative to the base plate 401. In some embodiments, the synchronous belt 402 is driven by a motor, and components such as a drive wheel, a driven wheel, a drive shaft, a driven shaft 406, and a tension wheel 405 are installed between the motor and the synchronous belt 402 to ensure stable movement of the synchronous belt 402. The pusher plate 403 is used to push the paper dividers 400. In some embodiments, the pusher plate 403 includes a vertical plate 4031 and a horizontal plate 4032. The vertical plate 4031 is perpendicular to the base plate 401 and the synchronous belt 402, and the horizontal plate 4032 is slidably disposed on the synchronous belt 402. Pushing the horizontal plate 4032 moves the vertical plate 4031. In this embodiment, a transition plate 404 is also provided at one end of the base plate 401. The transition plate 404 is used to place the paper spacer 400. The pusher plate 403 pushes the outermost paper spacer 400 to the transition plate 404, and the suction cup clamp 20 adsorbs the paper spacer 400 from the transition plate 404.

[0090] When using the automatic paper divider device provided in this embodiment, the box conveying mechanism 50 transports the box 300 to a preset position. Simultaneously, the box positioning mechanism 60 detects whether a box 300 exists at the preset position. Once it is determined that a box 300 exists at the preset position, the six-axis robot 10 is controlled to move the suction cup gripper 20 to the paper divider storage mechanism 40, and the suction cup 21 on the front side adsorbs the main body 100 of a paper divider 400. The state of the suction cup gripper 20 adsorbing the paper divider 400 is as follows: Figure 22 and Figure 23 As shown. Then, the six-axis robot 10 moves the suction cup gripper 20 to the paper divider forming mechanism 30. At this time, the two side flaps 200 contact the arc segments 3011 of the two guide members 301 respectively, controlling the paper divider 400 to pass through the forming space of the paper divider forming mechanism 30, so that the paper divider 400 forms a preliminary C-shape towards the suction cup gripper 20. At this time, the two drive members 5 are activated. Specifically, the controller drive member 5 extends, driving the first side suction cup 31 and the second side suction cup 32 to suck up the two side flaps 200. Then, the controller drive member 5 retracts, so that the two side flaps 200 move relative to the main body 100, thereby making the angle between the side flaps 200 and the main body 100 less than 90 degrees, so that the paper divider 400 forms a C-shape.

[0091] After the paper divider 400 is formed, the six-axis robot 10 continues to move the suction cup gripper 20 and the paper divider 400 to above the box 300 located at the preset position. Simultaneously, the paper divider detection component checks whether the paper divider 400 is present in front of the nozzle 701. When the paper divider 400 is present, the glue spraying mechanism 70 is controlled to spray glue onto the paper divider 400 through the nozzle 701, specifically onto the two side flaps 200. Then, the six-axis robot 10 lowers the suction cup gripper 20 and the paper divider 400 to place the paper divider 400 into the box 300 at the preset position. Subsequently, the two drive components 5 extend to push out the two side flaps 200 and attach them to the inner wall of the box 30. After the paper divider 400 is placed inside the box 300, the box conveying mechanism 50 moves the box 300 away from the preset position and sends the next box 300 to the preset position. It should be noted that, as Figure 22 and Figure 23 As shown, when two paper dividers 400 need to be placed inside a box 300, the above steps are repeated. However, when placing the second paper divider 400, the six-axis robot 10 moves the suction cup gripper 20 and the paper divider 400 above the box 300, then rotates 180 degrees to change the orientation of the C-shaped paper divider 400 before placing it inside the box 300. The positional relationship between the two paper dividers 400 is as follows: Figure 23 As shown.

[0092] The automatic paper divider feeding device provided in this embodiment features good stability, strong compatibility, cost savings, and high speed. Furthermore, it employs a six-axis robot 10 with an adjustable suction cup clamp 20, offering high speed and strong compatibility, and can accommodate paper dividers 400 of different sizes. Additionally, the fixed paper divider forming mechanism 30 offers good stability and strong compatibility, and can be adjusted according to different paper dividers 400. A glue spraying mechanism 70 is located downstream of the paper divider forming mechanism 30, allowing the addition of a single C-shaped paper divider 400 to achieve the purpose of protecting the product, greatly improving the success rate and stability of placing the paper divider 400 into the box 300. Adding one paper divider section 400, compared to adding two, increases production speed and saves significant material costs.

[0093] Example 2

[0094] This embodiment provides a control method for an automatic paper feeding divider, used to control the automatic paper feeding divider in Embodiment 1. Specifically, the control method for the automatic paper feeding divider includes the following steps:

[0095] S1. Control the six-axis robot 10 to move the suction cup clamp 20 to the paper divider storage mechanism 40, and control the front suction cup assembly 2 of the suction cup clamp 20 to adsorb the main body 100 of the paper divider 400.

[0096] S2. Control the six-axis robot 10 to drive the suction cup clamp 20 through the forming space, and the two guides 301 to move the two side folds 200 so that the paper divider is C-shaped.

[0097] S3, control the side suction cup assembly 3 to adsorb the two side hinges 200.

[0098] S4. Control the six-axis robot 10 to move the suction cup clamp 20 to the box 300 and put the formed paper divider 400 into the box 300.

[0099] The control method for the automatic paper divider device provided in this embodiment involves a suction cup clamp 20 adsorbing the paper divider 400, a paper divider forming mechanism 30 bending the paper divider 400 into a C-shape, and the suction cup clamp 20 also adsorbing the side folds 200 of the formed paper divider 400 to prevent the paper divider 400 from returning to its original shape during movement. A six-axis robot 10 is used to drive the suction cup clamp 20 to move and place the formed paper divider 400 into the box 300. This achieves automated placement of the paper divider 400, reduces the operator's workload, and has high efficiency and automation without consuming a large amount of manpower.

[0100] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic paper feeding and separating device, characterized in that, include: Six-axis robot (10); The suction cup clamp (20) includes a support assembly (1) fixed to the six-axis robot and a front suction cup assembly (2) and a side suction cup assembly (3) respectively fixed to the support assembly (1). The front suction cup assembly (2) is used to adsorb the main page of the paper divider, and the side suction cup assembly (3) is used to adsorb the two side folds of the paper divider. The six-axis robot (10) drives the suction cup clamp (20) to move or rotate. The paper divider forming mechanism (30) includes two guide members (301) arranged opposite to each other, forming a forming space between the two guide members (301). The six-axis robot (10) drives the suction cup clamp (20) through the forming space, so that the two guide members (301) bend the two sides of the paper divider to the side suction cup assembly (3). A paper divider storage mechanism (40) is located on one side of the six-axis robot (10) and is used to store paper dividers; The front suction cup assembly (2) includes a plurality of front suction cups (21) respectively disposed on the support assembly (1), and the adsorption surfaces of the plurality of front suction cups (21) are located on the same plane; the side suction cup assembly (3) includes a first side suction cup (31) and a second side suction cup (32) respectively disposed on the support assembly (1), the first side suction cup (31) and the second side suction cup (32) are respectively disposed on both sides of the support assembly (1), and when the suction cup clamp (20) is used to adsorb the paper, the adsorption surface of the first side suction cup (31) is always parallel to the adsorption surface of the second side suction cup (32) and always perpendicular to the adsorption surface of the front suction cup (21); The support assembly (1) includes a main frame (11) and two brackets (12) adjustablely connected to the main frame (11) in a first direction. The two brackets (12) are located on both sides of the main frame (11). A portion of the front suction cup (21) and a plurality of the first side suction cups (31) are connected to one bracket (12), and another portion of the front suction cup (21) and a plurality of the second side suction cups (32) are connected to the other bracket (12). The first direction is parallel to the extension direction of the main frame (11). The support assembly (1) further includes a plurality of adjustable frames (13), which are respectively connected to the main frame (11), and the connection position of each adjustable frame (13) to the main frame (11) is adjustable in the first direction; each bracket (12) is connected to the main frame (11) through at least one adjustable frame (13) to realize that the position of the bracket (12) in the first direction is adjustable.

2. The automatic paper feeding separator according to claim 1, characterized in that, Each of the guide members (301) has an arc segment (3011), and the two arc segments (3011) are outwardly flared and have opposite bending directions.

3. The automatic paper feeding separator according to claim 2, characterized in that, Each of the guide members (301) includes a connecting portion (3012), two guide rods (3013) respectively connected to the connecting portion (3012), and a reinforcing plate (3014) connected between the two guide rods (3013). Each guide rod (3013) has an arc-shaped segment (3011) at one end away from the connecting portion (3012).

4. The automatic paper feeding separator according to any one of claims 1-3, characterized in that, The paper separator forming mechanism (30) further includes two uprights (302), and two guide members (301) correspond one-to-one with the two uprights (302). Each guide member (301) has a third strip hole (3015) extending along a preset direction. The guide member (301) is fixed to the corresponding upright (302) by a fixing member passing through the third strip hole (3015). The preset direction is perpendicular to the length direction of the upright (302).

5. The automatic paper feeding separator according to any one of claims 1-3, characterized in that, It also includes a box conveying mechanism (50), which is located on one side of the paper divider forming mechanism (30) and is used to convey the box to a preset position. The six-axis robot (10) is used to drive the suction cup clamp (20) to move to the preset position.

6. The automatic paper feeding separator according to claim 5, characterized in that, It also includes a box positioning mechanism (60), which is fixed on the box conveying mechanism (50) and is used to detect whether there is a box at the preset position.

7. The automatic paper feeding separator according to any one of claims 1-3, characterized in that, It also includes a glue spraying mechanism (70), the nozzle of which is located on one side of the paper separator forming mechanism (30) and is used to spray glue onto the formed paper separator.

8. The automatic paper feeding separator according to claim 1, characterized in that, The paper divider storage mechanism (40) includes a base plate (401), a timing belt (402) disposed on the base plate (401), and a booster plate (403) disposed on the timing belt (402). The timing belt (402) is used to place the paper divider.

9. A control method for an automatic paper feeding separator, used to control the automatic paper feeding separator according to any one of claims 1-8, characterized in that, Includes the following steps: Control the six-axis robot (10) to move the suction cup clamp (20) to the paper divider storage mechanism (40), and control the front suction cup assembly (2) of the suction cup clamp (20) to adsorb the main body of the paper divider; The six-axis robot (10) is controlled to drive the suction cup clamp (20) through the forming space, and the two guides (301) push the two side folds to make the paper divider C-shaped; Control the side suction cup assembly (3) to adsorb the two side flaps; The six-axis robot (10) is controlled to move the suction cup clamp (20) to the box and place the formed paper divider into the box.

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