A control method and device for palletizing plates

Abstract

The present invention discloses a control method and device for palletizing plates, which are applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, and each suction cup is divided into a first number of working suction cups and a second number of non-working suction cups, and the method comprises: obtaining a packaging box gripping instruction, and moving the gripping mechanism to a preset gripping position according to the packaging box gripping instruction; starting each working suction cup to perform air suction and determining a negative pressure value of the suction cup area; if the negative pressure value reaches a preset negative pressure value, based on each working suction cup gripping a finished packaging box located at a preset gripping position, the finished packaging box includes a preset number of finished plates; moving the gripping mechanism to a preset stacking position, and stopping the air suction of each working suction cup to stack the finished packaging box at the preset stacking position; wherein the first number is greater than the second number, thereby realizing automatic palletizing, improving the palletizing efficiency of the plates, and reducing labor costs.

Description

Technical Field

[0001] The present application relates to the technical field of plate production, and more specifically, to a control method and device for palletizing plates. Background Art

[0002] Panels are flat rectangular boards of building materials made into standard sizes and can be used as wall, ceiling or floor components.

[0003] In the prior art, finished plates are generally stacked manually, and multiple people are required to perform the stacking to achieve normal production, which makes the plate stacking process time-consuming and labor-intensive, and has high labor costs.

[0004] Therefore, how to improve the stacking efficiency of plates is a technical problem that needs to be solved. Summary of the invention

[0005] The embodiments of the present application provide a control method and device for palletizing plates, so as to improve the palletizing efficiency of plates.

[0006] In a first aspect, a control method for stacking plates is provided, which is applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, and each suction cup is divided into a first number of working suction cups and a second number of non-working suction cups, and the method comprises: obtaining a packaging box gripping instruction, and moving the gripping mechanism to a preset gripping position according to the packaging box gripping instruction; starting each of the working suction cups to perform suction and determining a negative pressure value of the suction cup area; if the negative pressure value reaches a preset negative pressure value, based on each of the working suction cups gripping a finished packaging box located at the preset gripping position, the finished packaging box comprising a preset number of finished plates; moving the gripping mechanism to a preset stacking position, stopping the suction of each of the working suction cups, so as to stack the finished packaging box at the preset stacking position; wherein the first number is greater than the second number.

[0007] In a second aspect, a control device for stacking plates is provided, which is applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, and each suction cup is divided into a first number of working suction cups and a second number of non-working suction cups, and the device includes: an acquisition module, used to acquire a packaging box gripping instruction, and move the gripping mechanism to a preset gripping position according to the packaging box gripping instruction; an air suction module, used to start each of the working suction cups to perform suction and determine the negative pressure value of the suction cup area; a gripping module, used to grip a finished packaging box located at the preset gripping position based on each of the working suction cups if the negative pressure value reaches the preset negative pressure value, and the finished packaging box includes a preset number of finished plates; a stacking module, used to move the gripping mechanism to the preset stacking position, stop the suction of each of the working suction cups, and stack the finished packaging box at the preset stacking position; wherein the first number is greater than the second number.

[0008] By applying the above technical solution, in a gripping mechanism including at least one suction cup area, a plurality of suction cups are arranged in the suction cup area, and each suction cup is divided into a first number of working suction cups and a second number of non-working suction cups, and a packaging box gripping instruction is obtained, and the gripping mechanism is moved to a preset gripping position according to the packaging box gripping instruction; each working suction cup is started to perform suction and a negative pressure value of the suction cup area is determined; if the negative pressure value reaches a preset negative pressure value, a finished packaging box located at a preset gripping position is gripped based on each working suction cup, and the finished packaging box includes a preset number of finished plates; the gripping mechanism is moved to a preset stacking position, and the suction of each working suction cup is stopped to stack the finished packaging box at the preset stacking position; wherein the first number is greater than the second number, thereby realizing automatic stacking, improving the stacking efficiency of the plates, and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A schematic flow chart of a control method for palletizing plates proposed in an embodiment of the present invention is shown;

[0011] Figure 2 A schematic diagram showing the principle of the suction cup area in an embodiment of the present invention is shown;

[0012] Figure 3 A schematic diagram showing the principle of a plate side clamp in an embodiment of the present invention is shown;

[0013] Figure 4A schematic diagram showing the arrangement pattern of the suction cup area in an embodiment of the present invention;

[0014] Figure 5 A schematic diagram of a preset chop-shaped style in an embodiment of the present invention is shown;

[0015] Figure 6 A schematic structural diagram of a control device for palletizing plates proposed in an embodiment of the present invention is shown.

[0016] Figure 2 and Figure 3 In the figure, 10, suction cup; 20, #1 suction cup area; 30, #2 suction cup area; 40, #3 suction cup area; 50, plate side clamp; 60, finished plate to be packed. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] The present application provides a control method for stacking plates, which is applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, and each of the suction cups is divided into a first number of working suction cups and a second number of non-working suction cups, such as Figure 1 As shown, the method comprises the following steps:

[0019] Step S101, obtaining a packaging box grabbing instruction, and moving the grabbing mechanism to a preset grabbing position according to the packaging box grabbing instruction.

[0020] In this embodiment, the plates to be stacked may be mineral wool plates or other types of plates. The plates are stacked by a gripping mechanism, and the gripping mechanism is provided with at least one suction cup area, and a plurality of suction cups are provided in the suction cup area. The first number of suction cups in each suction cup are working suction cups, and the remaining second number of suction cups are non-working suction cups. The working suction cups generate negative pressure after suction, and the non-working suction cups do not suction. The non-working suction cups can be used as spare suction cups, and the first number is greater than the second number.

[0021] In some embodiments, Figure 2As shown, three suction cup areas are arranged on the gripping mechanism, namely, suction cup area #1 20, suction cup area #2 30 and suction cup area #3 40, each suction cup area is respectively provided with 8 suction cups 10, and the 8 suction cups 10 are divided into 4 groups, each group includes 2 suction cups 10, of which 3 groups of suction cups 10 are working suction cups, and the remaining 1 group of suction cups 10 is a non-working suction cup, that is, the first number is 6, and the second number is 2.

[0022] Those skilled in the art may set different first quantities and second quantities according to actual needs, and the number of suction cups in each suction cup area may be equal or unequal.

[0023] The package box grabbing instruction can be sent by the user or obtained when the preset trigger conditions are met. The grabbing mechanism is provided with a driving device. After obtaining the package box grabbing instruction, the driving device drives the grabbing mechanism to move to the preset grabbing position according to the package box grabbing instruction.

[0024] Optionally, a laser distance measuring device may be used to detect whether the gripping mechanism has reached a preset gripping position.

[0025] In some embodiments of the present application, the grabbing mechanism further includes a plate side clamp that matches a preset number of finished plates to be boxed. Before obtaining a packing box grabbing instruction, the method further includes:

[0026] Obtaining a plate packing instruction, and moving the gripping mechanism to a preset gripping position according to the plate packing instruction;

[0027] Controlling the gripping mechanism to extend the plate side clamp, and based on the plate side clamp, clamping the finished plate to be boxed located at the preset clamping position;

[0028] The gripping mechanism is moved to a preset boxing position, and the finished plate to be boxed is loaded into a packaging box located at the preset boxing position based on the plate side clamp.

[0029] In this embodiment, the gripping mechanism also includes a plate side clamp that matches a preset number of finished plates to be boxed. The preset number can be equal to the number of whole chopped finished plates or less than the number of whole chopped finished plates. The plate side clamp can be used to clamp the finished plates to be boxed for boxing. In the specific application scenario of this application, for example Figure 3 As shown, the gripping mechanism includes a plate side clamp 50 that matches a preset number of finished plates 60 to be boxed. When it is necessary to clamp the finished plates 60 to be boxed, the gripping mechanism can extend the plate side clamp 50. When it is necessary to grab the finished packaging box, the plate side clamp 50 can be retracted and the suction cup 10 can be used for gripping operations.

[0030] The plate packing instruction can be sent by the user or triggered when a preset trigger instruction is met. According to the plate packing instruction, the gripping mechanism is moved to the preset clamping position, where there are finished plates to be packed. The gripping mechanism is controlled to extend the plate side clamp, and clamp the finished plates to be packed based on the plate side clamp. Then the gripping mechanism is moved to the preset packing position, where there are packaging boxes for packing the finished plates, and the finished plates to be packed are packed based on the plate side clamp, so that the gripping mechanism has both packing and stacking functions, which improves the flexibility of the gripping mechanism and thus improves the stacking efficiency.

[0031] Step S102, starting each of the working suction cups to suction air and determining the negative pressure value of the suction cup area.

[0032] In this embodiment, each suction cup is connected to an air suction pipe, and a vacuum gauge is provided in each suction cup area. Each working suction cup is started to suction air, and the negative pressure value corresponding to the suction cup area is determined by the vacuum gauge.

[0033] Step S103: if the negative pressure value reaches a preset negative pressure value, each of the working suction cups grabs a finished product packaging box located at the preset grabbing position, and the finished product packaging box includes a preset number of finished plates.

[0034] In order to ensure reliable grasping, the grasping operation can only be performed when the negative pressure value reaches the preset negative pressure value. There is a finished product packaging box at the preset grasping position, and the finished product packaging box includes a preset number of finished plates. If the negative pressure value reaches the preset negative pressure value, the surface of the finished product packaging box is adsorbed by each working suction cup, thereby grasping the finished product packaging box.

[0035] In order to improve the reliability of grasping, in some embodiments of the present application, after starting each of the working suction cups to suction and determining the negative pressure value of the suction cup area, the method further includes:

[0036] If the negative pressure value does not reach the preset negative pressure value, a preset switching operation is performed and a new negative pressure value is obtained;

[0037] If the new negative pressure value reaches the preset negative pressure value, the finished product packaging box is grabbed based on each of the working suction cups;

[0038] If the new negative pressure value does not reach the preset negative pressure value, the preset switching operation is performed again until the new negative pressure value reaches the preset negative pressure value, and the finished product packaging box is grabbed based on each of the working suction cups;

[0039] The preset switching operation is to switch the non-working suction cup to the working suction cup for suction, and select the second number of suction cups from each of the working suction cups as the current non-working suction cups to stop suction.

[0040] In this embodiment, the negative pressure value does not reach the preset negative pressure value, which means that the negative pressure value is relatively low at this time. There may be a faulty suction cup in each working suction cup, resulting in insufficient negative pressure value, and the grabbing operation cannot be performed. The preset switching operation is performed. Specifically, the non-working suction cup is switched to the working suction cup for suction, and a second number of suction cups are selected from each working suction cup as the current non-working suction cup to stop suction. For example, if the suction cup area includes 4 groups of suction cups, each group includes 2 suction cups, wherein the 1st, 2nd, and 3rd groups of suction cups are working suction cups, and the 4th group of suction cups are non-working suction cups, the preset switching operation is to switch the 4th group of suction cups to the working suction cups for suction, and switch one of the 1st, 2nd, and 3rd groups of suction cups (such as the 1st group) to the current non-working suction cup to stop suction. After completing the preset switching operation, the 2nd, 3rd, and 4th groups of suction cups are working suction cups, and the 1st group of suction cups are non-working suction cups.

[0041] After performing the preset switching operation, a new negative pressure value is obtained. If the new negative pressure value reaches the preset negative pressure value, it means that the negative pressure value is large enough to continue grabbing, and the finished product packaging box can be grabbed based on each working suction cup; if the new negative pressure value does not reach the preset negative pressure value, it means that the negative pressure value is still too small to perform the grabbing operation, and the preset switching operation needs to be performed again. For example, after the last preset switching operation, the 2nd, 3rd, and 4th groups of suction cups are working suction cups, and the 1st group of suction cups are non-working suction cups. In this preset switching operation, the 1st group of suction cups can be switched to working suction cups for suction, and any one of the 2nd or 3rd groups of suction cups (such as the 2nd group) can be switched to non-working suction cups to stop suction. After completing this preset switching operation, the 1st, 3rd, and 4th groups of suction cups are working suction cups, and the 2nd group of suction cups are non-working suction cups.

[0042] After re-performing the preset switching operation, a new negative pressure value is obtained. If the new negative pressure value reaches the preset negative pressure value, the finished product packaging box is grasped based on each working suction cup; if the new negative pressure value does not reach the preset negative pressure value, the preset switching operation is continued until the new negative pressure value reaches the preset negative pressure value. Therefore, multiple preset switching operations may be performed, thereby improving the reliability of grasping and enabling efficient palletizing.

[0043] In order to ensure reliable palletizing control, in some embodiments of the present application, after re-performing the preset switching operation, the method further includes:

[0044] If the new negative pressure value does not reach the preset negative pressure value and there is no target suction cup, an alarm is issued and the grabbing of the finished product packaging box is stopped;

[0045] Wherein, the target suction cup is a working suction cup among the suction cups that has not yet performed the preset switching operation.

[0046] In this embodiment, the target suction cup is a working suction cup among the suction cups that has not undergone the preset switching operation. After the preset switching operation is performed again, if the new negative pressure value does not reach the preset negative pressure value and there is no target suction cup, it means that the negative pressure value cannot be increased even if the preset switching operation is performed. At this time, an alarm is issued and the grabbing of the finished product packaging box is stopped to remind the user to handle it in time.

[0047] Step S104, moving the gripping mechanism to a preset stacking position, stopping the suction of each of the working suction cups, so as to stack the finished product packaging box at the preset stacking position.

[0048] In this embodiment, the gripping mechanism is first moved to the preset stacking position, and then the suction of each working suction cup is stopped to make each working suction cup leave the surface of the finished product packaging box, so as to stack the finished product packaging box at the preset stacking position.

[0049] In some embodiments of the present application, if there are multiple suction cup areas, the distribution pattern of each suction cup area on the gripping mechanism matches part or all of the preset chopping pattern.

[0050] In this embodiment, the suction cup areas are arranged in steps on the gripping mechanism according to the preset chopping pattern, and palletizing according to the preset chopping pattern can be achieved with a simple movement operation, thereby further improving the palletizing efficiency. Figure 4 Shown is a schematic diagram of the layout of the suction cup area, such as Figure 5 The following is a schematic diagram of the preset chop style. Figure 4 and Figure 5 It can be seen that the preset chop pattern consists of four parts, each of which is consistent with the distribution pattern of each suction cup area in the gripping mechanism. Figure 4 The three suction cup areas can each suck up a finished product box, and after moving to the preset stacking position, each finished product box is directly placed Figure 5 It only needs to be a part of the preset chop pattern, so that efficient palletizing according to the preset chop pattern can be achieved.

[0051] Optionally, after obtaining the packaging box grabbing instruction, step S102 is first executed. If the negative pressure value reaches a preset negative pressure value, the grabbing mechanism is moved to a preset grabbing position according to the packaging box grabbing instruction, and then step S103 is executed.

[0052] By applying the above technical solution, in a gripping mechanism including at least one suction cup area, a plurality of suction cups are arranged in the suction cup area, and each suction cup is divided into a first number of working suction cups and a second number of non-working suction cups, and a packaging box gripping instruction is obtained, and the gripping mechanism is moved to a preset gripping position according to the packaging box gripping instruction; each working suction cup is started to perform suction and a negative pressure value of the suction cup area is determined; if the negative pressure value reaches a preset negative pressure value, a finished packaging box located at a preset gripping position is gripped based on each working suction cup, and the finished packaging box includes a preset number of finished plates; the gripping mechanism is moved to a preset stacking position, and the suction of each working suction cup is stopped to stack the finished packaging box at the preset stacking position; wherein the first number is greater than the second number, thereby realizing automatic stacking, improving the stacking efficiency of the plates, and reducing labor costs.

[0053] The present application also provides a control device for stacking plates, which is applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, and each of the suction cups is divided into a first number of working suction cups and a second number of non-working suction cups, such as Figure 6 As shown, the device comprises:

[0054] An acquisition module 601 is used to acquire a packaging box grabbing instruction and move the grabbing mechanism to a preset grabbing position according to the packaging box grabbing instruction;

[0055] The suction module 602 is used to start each of the working suction cups to suction and determine the negative pressure value of the suction cup area;

[0056] The grabbing module 603 is used for grabbing the finished product packaging box located at the preset grabbing position based on each of the working suction cups if the negative pressure value reaches the preset negative pressure value, and the finished product packaging box includes a preset number of finished plates;

[0057] The stacking module 604 is used to move the gripping mechanism to a preset stacking position, stop the suction of each working suction cup, and stack the finished product packaging box at the preset stacking position;

[0058] Wherein, the first number is greater than the second number.

[0059] In a specific application scenario, the device further includes a switching module, which is used to:

[0060] If the negative pressure value does not reach the preset negative pressure value, a preset switching operation is performed and a new negative pressure value is obtained;

[0061] If the new negative pressure value reaches the preset negative pressure value, the finished product packaging box is grabbed based on each of the working suction cups;

[0062] If the new negative pressure value does not reach the preset negative pressure value, the preset switching operation is performed again until the new negative pressure value reaches the preset negative pressure value, and the finished product packaging box is grabbed based on each of the working suction cups;

[0063] The preset switching operation is to switch the non-working suction cup to the working suction cup for suction, and select the second number of suction cups from each of the working suction cups as the current non-working suction cups to stop suction.

[0064] In a specific application scenario, the device further includes an alarm module for:

[0065] If the new negative pressure value does not reach the preset negative pressure value and there is no target suction cup, an alarm is issued and the grabbing of the finished product packaging box is stopped;

[0066] Wherein, the target suction cup is a working suction cup among the suction cups that has not yet performed the preset switching operation.

[0067] In a specific application scenario, the gripping mechanism further includes a plate side clamp that matches a preset number of finished plates to be boxed, and the device further includes a gripping module for:

[0068] Obtaining a plate packing instruction, and moving the gripping mechanism to a preset gripping position according to the plate packing instruction;

[0069] Controlling the gripping mechanism to extend the plate side clamp, and based on the plate side clamp, clamping the finished plate to be boxed located at the preset clamping position;

[0070] The gripping mechanism is moved to a preset boxing position, and the finished plate to be boxed is loaded into a packaging box located at the preset boxing position based on the plate side clamp.

[0071] In a specific application scenario, if there are multiple suction cup areas, the distribution pattern of each suction cup area on the gripping mechanism matches part or all of the preset chopping pattern.

[0072] By applying the above technical scheme, a control device for stacking plates is applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, and each suction cup is divided into a first number of working suction cups and a second number of non-working suction cups, and the device includes: an acquisition module, used to acquire a packaging box gripping instruction, and move the gripping mechanism to a preset gripping position according to the packaging box gripping instruction; an air suction module, used to start each working suction cup to perform air suction and determine the negative pressure value of the suction cup area; a gripping module, used to grip a finished packaging box located at a preset gripping position based on each working suction cup if the negative pressure value reaches a preset negative pressure value, and the finished packaging box includes a preset number of finished plates; a stacking module, used to move the gripping mechanism to the preset stacking position, stop the air suction of each working suction cup, and stack the finished packaging box at the preset stacking position; wherein the first number is greater than the second number, thereby realizing automatic stacking, improving the stacking efficiency of the plates, and reducing labor costs.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for palletizing plates, characterized in that: Applied to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, each of the suction cups is divided into a first number of working suction cups and a second number of non-working suction cups, the method comprising: Obtaining a packaging box grabbing instruction, and moving the grabbing mechanism to a preset grabbing position according to the packaging box grabbing instruction; Starting each of the working suction cups to suction air and determining the negative pressure value of the suction cup area; If the negative pressure value reaches a preset negative pressure value, each of the working suction cups grabs a finished product packaging box located at the preset grabbing position, and the finished product packaging box includes a preset number of finished plates; Move the gripping mechanism to a preset stacking position, stop the suction of each working suction cup, and stack the finished product packaging box at the preset stacking position; wherein the first number is greater than the second number; After starting each of the working suction cups to suction and determining the negative pressure value of the suction cup area, the method further includes: If the negative pressure value does not reach the preset negative pressure value, a preset switching operation is performed and a new negative pressure value is obtained; If the new negative pressure value reaches the preset negative pressure value, the finished product packaging box is grabbed based on each of the working suction cups; If the new negative pressure value does not reach the preset negative pressure value, the preset switching operation is performed again until the new negative pressure value reaches the preset negative pressure value, and the finished product packaging box is grabbed based on each of the working suction cups; Wherein, the preset switching operation is to switch the non-working suction cup to the working suction cup for suction, and select the second number of suction cups from each of the working suction cups as the current non-working suction cups to stop suction; After re-performing the preset switching operation, the method further includes: If the new negative pressure value does not reach the preset negative pressure value and there is no target suction cup, an alarm is issued and the grabbing of the finished product packaging box is stopped; Wherein, the target suction cup is a working suction cup among the suction cups that has not yet undergone the preset switching operation; The grabbing mechanism also includes a plate side clamp matched with a preset number of finished plates to be boxed, so that the grabbing mechanism has both boxing and palletizing functions. Before obtaining the packaging box grabbing instruction, the method also includes: Obtaining a plate packing instruction, and moving the gripping mechanism to a preset gripping position according to the plate packing instruction; Controlling the gripping mechanism to extend the plate side clamp, and based on the plate side clamp, clamping the finished plate to be boxed located at the preset clamping position; The gripping mechanism is moved to a preset boxing position, and the finished plate to be boxed is loaded into a packaging box located at the preset boxing position based on the plate side clamp.

2. The method according to claim 1, characterized in that If there are multiple suction cup areas, the distribution pattern of each suction cup area on the gripping mechanism matches part or all of the preset chopping pattern.

3. A control device for palletizing plates, characterized in that: Applicable to a gripping mechanism including at least one suction cup area, wherein a plurality of suction cups are arranged in the suction cup area, each of the suction cups is divided into a first number of working suction cups and a second number of non-working suction cups, the device comprising: An acquisition module, used for acquiring a packaging box grabbing instruction, and moving the grabbing mechanism to a preset grabbing position according to the packaging box grabbing instruction; A suction module, used for starting each of the working suction cups to suction and determining the negative pressure value of the suction cup area; A grabbing module, configured to grab a finished product packaging box located at the preset grabbing position based on each of the working suction cups if the negative pressure value reaches a preset negative pressure value, wherein the finished product packaging box includes a preset number of finished plates; A stacking module, used for moving the gripping mechanism to a preset stacking position, stopping the suction of each of the working suction cups, so as to stack the finished product packaging box at the preset stacking position; wherein the first number is greater than the second number; The device also includes a switching module, which is used to: If the negative pressure value does not reach the preset negative pressure value, a preset switching operation is performed and a new negative pressure value is obtained; If the new negative pressure value reaches the preset negative pressure value, the finished product packaging box is grabbed based on each of the working suction cups; If the new negative pressure value does not reach the preset negative pressure value, the preset switching operation is performed again until the new negative pressure value reaches the preset negative pressure value, and the finished product packaging box is grabbed based on each of the working suction cups; Wherein, the preset switching operation is to switch the non-working suction cup to the working suction cup for suction, and select the second number of suction cups from each of the working suction cups as the current non-working suction cups to stop suction; The device also includes an alarm module, which is used to: If the new negative pressure value does not reach the preset negative pressure value and there is no target suction cup, an alarm is issued and the grabbing of the finished product packaging box is stopped; Wherein, the target suction cup is a working suction cup among the suction cups that has not yet undergone the preset switching operation; The gripping mechanism also includes a plate side clamp that matches a preset number of finished plates to be boxed, so that the gripping mechanism has both boxing and palletizing functions. The device also includes a gripping module for: Obtaining a plate packing instruction, and moving the gripping mechanism to a preset gripping position according to the plate packing instruction; Controlling the gripping mechanism to extend the plate side clamp, and based on the plate side clamp, clamping the finished plate to be boxed located at the preset clamping position; The gripping mechanism is moved to a preset boxing position, and the finished plate to be boxed is loaded into a packaging box located at the preset boxing position based on the plate side clamp.

4. The device according to claim 3, characterized in that If there are multiple suction cup areas, the distribution pattern of each suction cup area on the gripping mechanism matches part or all of the preset chopping pattern.

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