Automatic bobbin paper packaging system and sorting method

Abstract

The invention relates to an automatic bobbin paper packaging system and a sorting method, and belongs to the technical field of bobbin paper packaging. Comprising a transfer unit, a robot stacking unit, a winding unit, a conveying assembly and a control system, and the conveying assembly comprises a transition device, a tray and a plurality of chain plates. The transition device is used for transporting the bobbin paper collected by the transfer unit to the robot stacking unit for sorting and stacking, and is provided with a temporary storage area for assisting in sorting; the robot stacking unit sorts bobbin paper onto a tray; a plurality of chain plates transport the stacked trays, a stacking area, a tray feeding area, an auxiliary area and a connection area are formed, the tray feeding area supplies the trays, the stacking area and the auxiliary area assist in stacking and sorting, the stacked trays are transported to a winding unit through the chain plates, and finally finished products are output from the connection area. The technical problems that in the prior art, in the actual production process, difference exists between different processes, the stability of a roller way conveying structure is poor, and the requirement for a tray is high are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of coil paper packaging, and in particular relates to an automatic coil paper packaging system and a sorting method. Background Art

[0002] The automatic paper coil packaging production line is mainly based on robot palletizing, combined with a complete set of equipment for material transportation, paper coil stacking, and product film wrapping packaging. The paper coils cut by the slitting machine are subjected to a series of actions such as manual opening inspection, disc removal, labeling, stacking, film wrapping packaging, etc., and the paper coils are automatically stacked and packaged according to the standard. The entire intelligent packaging line performs label alignment, grabbing, code scanning, stacking, film wrapping, and offline production processes on the roll paper off the slitting machine, and stacks the single paper coil packaging into a large paper coil product form.

[0003] The patent with announcement number: CN203410696U discloses a coil paper packaging production line, including a coil paper storage area, a packaging area and a piece packaging area. The packaging area and the piece packaging area are connected by a roller conveying component. The packaging area includes: a labeling area, which is provided with a labeling machine; a horizontal sealing area, which includes a horizontal labeling machine for completing the horizontal application of heat shrink film to the coil paper; and a vertical sealing area, which includes a vertical labeling machine for completing the vertical application of heat shrink film to the coil paper.

[0004] The prior art has at least the following problems during use:

[0005] The cylindrical paper roll is cut into several paper discs by a slitting machine, and the cut paper discs are processed and packaged by roller conveyor components. Due to the differences between different processes in the actual production process, the stability of the roller conveyor structure is poor, resulting in greater loss of paper discs during transportation. Summary of the invention

[0006] The present invention provides an automatic paper coil packaging system and a sorting method, which are used to solve the technical problems in the prior art that in actual production processes, there are differences between different processes, the stability of the roller transport structure is poor, and the requirements for pallets are high.

[0007] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0008] An automatic paper coil packaging system includes: a transfer unit, a robot stacking unit, a winding unit, a conveying component and a control system, wherein the conveying component includes: a transition device, a pallet, and a plurality of chain plates. The transition device is used to transport the workpieces collected by the transfer unit to the robot stacking unit for sorting and stacking, and a corresponding temporary storage area is provided for auxiliary sorting; the pallet is used for the robot stacking unit to sort the paper coils onto the pallet; the plurality of chain plates are used to transport the pallet after stacking at the robot stacking unit, and the plurality of chain plates are formed with a stacking area, an upper plate area, an auxiliary area, and a docking area. The upper plate area is used to supply pallets into the system, and the stacking area and the auxiliary area are used to assist the robot stacking unit in stacking and sorting. The sorted and stacked pallets are transported to the winding unit via the chain plates for packaging, and the finished products are output from the docking area.

[0009] Furthermore, the transfer unit includes: a transport trolley, a transfer truss, a first sliding frame, a second sliding frame, and a gripping device. The transport trolley is used to input the cut paper coil; the transition device has an input end and an output end, and the transfer truss is arranged at the input end of the transition device; the first sliding frame is slidably arranged on the transfer truss along a first preset direction; the second sliding frame is slidably arranged on the first sliding frame along a second preset direction; the gripping device has a detection part and a fixing part, the fixing part is slidably arranged along the central axis direction of the paper coil, and the fixing part is used to pass through the paper coil arranged on the transport trolley and transport it to the transition device, the detection part detects and records the paper coil on the fixing part, and the detection part is communicatively connected with the control system.

[0010] Furthermore, it also includes: a pallet positioning mechanism, a rotating disk, and a pneumatic slide rail. The pallet positioning mechanism is installed in the stacking area and the auxiliary area, and fixes the relative position of the pallet in the stacking area and the auxiliary area by abutting against the pallet; the rotating disk is rotatably arranged between the upper disk area and the stacking area; the pneumatic slide rail is arranged on the rotating disk, and the chain plate is slidably arranged on the pneumatic slide rail, and is used to slide close to the upper disk area or the stacking area.

[0011] Furthermore, it also includes a clamping member which is slidably mounted on the transition device and slides to abut against the paper roll.

[0012] A paper coil automatic packaging and sorting method, applicable to the above system, comprises the following steps:

[0013] S1. The cut paper discs are transported to the transfer truss by the transport trolley, and the paper discs are manually inspected and labeled;

[0014] S2, driving the first sliding frame and the second sliding frame to preliminarily locate the position of the paper tray through visual control and the control system, and sliding out the fixing portion, lowering the second sliding frame along a second preset direction, and when the fixing portion coincides with the central axis of the paper tray, sliding the fixing portion to pass through a plurality of paper trays, and fixing the relative position of the fixing portion and the gripping device;

[0015] S3, scanning the paper roll on the fixing part through the detection part, and entering the information into the control system;

[0016] S4, the transition device receives the paper coil on the fixed part after the input, and transports it from the inlet end to the outlet end;

[0017] S5, the robot stacking unit sorts the paper rolls with different barcodes according to the result of the barcode scanning detection through the control system, and stacks them on the pallet;

[0018] S6, the conveying assembly transports the stacked pallets to the wrapping unit for film coating and packaging;

[0019] S7. The conveying assembly outputs the packaged paper tray from the docking area to the system.

[0020] Furthermore, step S4 further includes the following steps:

[0021] S41, the transition device is slidably disposed between the input end and the output end, and the transition device moves toward the output end after receiving the paper roll at the input end;

[0022] S42, after the robot stacking unit sorts out some of the paper rolls from the transition device, the sliding clamping member abuts against the remaining paper rolls, and controls the transition device to perform a compensatory displacement toward the output end, so that the paper rolls to be added remain in the same position;

[0023] S43. When the paper roll is transferred, the control system drives the transition device back to the input end to repeat steps S41 to S43.

[0024] Furthermore, step S5 further includes the following steps:

[0025] S51, the control system classifies the same group of paper rolls, marking the paper rolls at both ends and the paper rolls with uneven cut surfaces as category A, and marking the rest as category B;

[0026] S52, the robot stacking unit takes out the paper coils on the transition device, and places the type A paper coils at the bottom and top of the stack through temporary stacking and multiple sorting in the temporary storage area and the auxiliary area, and stacks the type B paper coils between the type A paper coils.

[0027] Furthermore, step S6 further includes the following steps:

[0028] S61, canceling the abutment of the pallet fixing mechanism, and driving the chain plate to slide on the pneumatic slide rail, driving the chain plate to abut and approach the chain plate of the stacking area, so as to receive the stacked pallet and transport it from the stacking area to the rotating disk;

[0029] S62, rotating the rotating disk to drive the chain plate to slide on the pneumatic slide rail, and transporting the stacked pallet to the winding unit.

[0030] The present invention provides an automatic paper coil packaging system and sorting method, which has the following beneficial effects:

[0031] By setting up stacking area, upper plate area, auxiliary area, docking area and temporary storage area for the automatic packaging system, the sorting accuracy of the robot palletizing unit during the palletizing process can be improved. The paper pallets that are sorted and then stacked will reduce the loss during transportation, and the use of chain plate structure for transportation will improve stability and further reduce the loss caused by transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A top view of an automatic paper coil packaging system provided by an embodiment of the present invention;

[0034] Figure 2 A schematic structural diagram of an automatic paper coil packaging system provided in an embodiment of the present invention.

[0035] In the figure: 11-carrying trolley; 12-transfer truss; 13-first sliding frame; 14-second sliding frame; 15-grasping device; 20-robot stacking unit; 30-wrapping unit; 41-transition device; 42-pallet; 43-chain plate; 44-pallet positioning mechanism; 45-rotating disk; 46-pneumatic slide rail; 47-clamping member. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0037] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0039] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be welding, bolt connection, or riveting; it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] Example:

[0041] based on Figure 1 and Figure 2 As shown, this embodiment provides an automatic paper coil packaging system, including: a transfer unit, a robot stacking unit 20, a winding unit 30, a conveying component and a control system, and the conveying component includes: a transition device 41, a pallet 42, and a plurality of chain plates 43. The transition device 41 is used to transport the workpieces collected by the transfer unit to the robot stacking unit 20 for sorting and stacking, and a corresponding temporary storage area is provided for auxiliary sorting; the pallet 42, the robot stacking unit 20 sorts the paper coils onto the pallet 42; the plurality of chain plates 43 are used to transport the pallet 42 after stacking at the robot stacking unit 20, and the plurality of chain plates 43 are formed with a stacking area, an upper plate area, an auxiliary area, and a docking area. The upper plate area is used to supply the pallet 42 into the system, and the stacking area and the auxiliary area are used to assist the robot stacking unit 20 in stacking and sorting. The sorted and stacked pallets 42 are transported to the winding unit 30 via the chain plates 43 for packaging, and the finished products are output from the docking area.

[0042] In this embodiment, if Figure 1 and Figure 2As shown, the various parts are connected in the system through the conveying component for automatic operation, and the conveying component is used to divide the working area into a stacking area, an upper plate area, an auxiliary area, and a docking area, providing automatic supply of pallets 42, and the robot stacking unit 20 is used to perform intelligent controlled stacking in the stacking area and the auxiliary area. The control system is mainly used to enter information on the barcode of the paper coils. When the robot stacking unit 20 performs sorting, sorting and stacking are performed through the corresponding barcodes, and sorting and stacking can be performed in the stacking area and the auxiliary area at the same time, so that the paper coils can be sorted and stacked more efficiently and accurately, and a plurality of chain plates 43 are used for combined transportation to improve transportation stability and reduce losses.

[0043] Further, in some implementations of this embodiment, Figure 1 and Figure 2 As shown, the transfer unit includes: a transport trolley 11, a transfer truss 12, a first sliding frame 13, a second sliding frame 14, and a grabbing device 15. The transport trolley 11 is used to input the cut paper roll; the transition device 41 has an input end and an output end, and the transfer truss 12 is arranged at the input end of the transition device 41; the first sliding frame 13 is slidably arranged on the transfer truss 12 along a first preset direction; the second sliding frame 14 is slidably arranged on the first sliding frame 13 along a second preset direction; the grabbing device 15 has a detection part and a fixing part, the fixing part is slidably arranged along the central axis direction of the paper roll, and the fixing part is used to pass through the paper roll arranged on the transport trolley 11 and transport it to the transition device 41, the detection part detects and records the paper roll on the fixing part, and the detection part is communicatively connected with the control system.

[0044] In this embodiment, if Figure 1 and Figure 2 As shown, the transport trolley 11 is mainly used for receiving the cut paper coils and pasting barcodes on the cut paper coils. During the cutting process of the same paper coil, due to the structural characteristics of the paper coil itself, the paper coils at both ends of the cutting will be loose and of lower quality, while the quality of the paper coils in the middle part will be relatively stable after cutting. The transfer truss 12 is mainly used for further information entry of the cut paper coils. The transfer truss 12 is mainly composed of a gantry frame. The first sliding frame 13 is two sets of sliding frames symmetrically arranged. The first preset direction is the horizontal direction and coincides with the running direction of the transition device 41. The second preset direction is the vertical direction. The second sliding frame 14 is vertically slidably arranged on the first sliding frame 13. The visual sensor device and the laser positioning device are installed on the fixed part of the second sliding frame 14. As a detection unit, the quality information of the cut surface of the paper coil is entered, and then uploaded to the control system.

[0045] Further, in some implementations of this embodiment, Figure 1 and Figure 2As shown, it also includes: a pallet positioning mechanism 44, a rotating disk 45, and a pneumatic slide rail 46. The pallet positioning mechanism 44 is installed in the stacking area and the auxiliary area, and fixes the relative position of the pallet 42 in the stacking area and the auxiliary area by abutting against the pallet 42; the rotating disk 45 is rotatably arranged between the upper disk area and the stacking area; the pneumatic slide rail 46 is arranged on the rotating disk 45, and the chain plate 43 is slidably arranged on the pneumatic slide rail 46, which is used to slide close to the upper disk area or the stacking area.

[0046] In this embodiment, if Figure 1 and Figure 2 As shown, the pallet 42 positioning device is two pneumatic supporting rods arranged opposite to each other, which fix and support the pallet 42 from both sides to improve the accuracy of stacking, and the rotating disk 45 is arranged between the stacking area, the upper disk area, and the auxiliary area, and is used to connect the pallets 42 between various areas and transport them. The chain plates 43 are independently driven chain plate 43 units, and independent servo motors are provided on the chain plates 43 to drive the chain plates 43 to transport the pallets 42.

[0047] Further, in some implementations of this embodiment, Figure 1 and Figure 2 As shown, it also includes a clamping member 47. The clamping member 47 is slidably mounted on the transition device 41 and slides to abut against the paper roll.

[0048] In this embodiment, if Figure 1 and Figure 2 As shown, the clamping member 47 has a backlash compensation, by compensating the backlash of the drive mechanism, the actual running direction of the control shaft is corrected after each rotation reversal.

[0049] This embodiment also provides a method for automatic packaging and sorting of paper rolls, comprising the following steps:

[0050] S1, transport the cut paper discs to the transfer truss 12 through the transport trolley 11, manually inspect and label the paper discs;

[0051] S2, driving the first sliding frame 13 and the second sliding frame 14 to preliminarily locate the position of the paper tray through the visual control and control system, and sliding out the fixing portion, lowering the second sliding frame 14 along the second preset direction, and when the fixing portion coincides with the central axis of the paper tray, sliding the fixing portion to pass through a plurality of paper trays, and fixing the relative position of the fixing portion and the gripping device 15;

[0052] S3, the detection unit scans the paper roll on the fixed unit and enters the information into the control system;

[0053] S4, the transition device 41 receives the paper coil after the input on the fixed part and transports it from the inlet end to the outlet end;

[0054] S5, the robot stacking unit 20 sorts the paper rolls with different bar codes according to the results of the bar code scanning detection through the control system, and stacks them on the tray 42;

[0055] S6, the conveying assembly transports the stacked pallet 42 to the wrapping unit 30 for film coating and packaging;

[0056] S7. The conveying component outputs the packaged paper tray 42 from the docking area to the system.

[0057] In this embodiment, information management plays a key role in the entire process, from manual labeling to scanning and entering information, and then to the robot stacking unit 20 sorting according to the scanning results. Through the effective management and utilization of paper coil information, accurate tracing and classification of paper coils are achieved, and the management level of the entire production process is improved; the advantages of automation equipment in terms of accuracy and efficiency are fully utilized, and the intuitiveness and flexibility of manual inspection can be used to ensure the quality of paper coils and the accuracy of processing; each link is closely connected through the transport trolley 11, transition device 41, conveying components, etc., ensuring that the paper coils can flow smoothly and orderly throughout the production line, avoiding production delays or inefficiencies caused by poor process connection.

[0058] This embodiment also provides a method for automatic packaging and sorting of paper rolls, wherein step S4 further includes the following steps:

[0059] S41, the transition device 41 is slidably disposed between the input end and the output end, and the transition device 41 moves toward the output end after receiving the paper roll at the input end;

[0060] S42, after the robot stacking unit 20 sorts out some of the paper rolls from the transition device 41, the sliding clamp 47 abuts against the remaining paper rolls, and controls the transition device 41 to perform a compensating displacement toward the output end, so that the paper rolls to be added remain in the same position;

[0061] S43. When the paper roll is transferred, the control system drives the transition device 41 back to the input end to repeat steps S41 to S43.

[0062] In this embodiment, the entire operation process of the transition device 41 is closely coordinated with the robot stacking unit 20. It not only needs to smoothly transfer the paper rolls to the location of the robot stacking unit 20, but also needs to make timely adjustments according to the sorting situation of the robot stacking unit 20, such as performing compensation displacement operations, to ensure that the entire paper roll sorting and transfer work can be carried out efficiently and accurately, reflecting the good coordination between different devices. The sliding clamp 47 is used to abut the remaining paper rolls and perform compensation displacement operations, which effectively ensures that the position of the paper rolls to be added remains at the same position. The paper roll position is relatively fixed and easy to operate, so that the robot stacking unit 20 can sort more efficiently and reduce the problems of sorting errors or reduced efficiency caused by position changes. The transition device 41 has a cyclic working mechanism, that is, after completing the transfer, it returns to the input end and restarts the work process, so that it can continuously provide services for the paper roll transfer in the production process, and can perform transition transportation of multiple groups of paper rolls at a more actual production speed. This cyclicity reduces the need for manual intervention, improves the utilization rate of the equipment and the efficiency of the entire production process, and can stably complete the transfer task of paper rolls from the input end to the output end in a long time.

[0063] This embodiment also provides a method for automatic packaging and sorting of paper rolls, wherein step S5 further includes the following steps:

[0064] S51, the control system classifies the same group of paper rolls, marking the paper rolls at both ends and the paper rolls with uneven cut surfaces as category A, and marking the rest as category B;

[0065] S52, the robot stacking unit 20 takes out the paper coils on the transition device 41, and puts the type A paper coils at the bottom and top of the stack through temporary stacking and multiple sorting in the temporary storage area and the auxiliary area, and stacks the type B paper coils between the type A paper coils.

[0066] In this embodiment, the classification operation of the control system plays a clear guiding role in the stacking behavior of the robot stacking unit 20. The stacking method of placing Class A paper coils at the bottom and top and Class B paper coils in the middle optimizes the overall structure of the paper coil stacking. This structure not only ensures the overall stability, but also improves the overall protection effect of the paper coils, so that the stacked paper coils can better resist the influence of external factors in subsequent transportation, storage and other links, and reduce the amount of damage to the paper coils. And by first carefully classifying the paper coils, the robot stacking unit 20 can perform targeted stacking according to the classification results. The setting of the temporary storage area and the auxiliary area provides the robot stacking unit 20 with space for flexible processing of paper coils. By temporarily stacking and sorting multiple times in these areas, the robot stacking unit 20 can more calmly deal with the processing of different types of paper coils, realize the orderly connection from classification to stacking, and improve the logic and rationality of the entire paper coil processing process.

[0067] This embodiment also provides a method for automatic packaging and sorting of paper rolls, wherein step S6 further includes the following steps:

[0068] S61, cancel the abutment of the fixing mechanism of the pallet 42, drive the chain plate 43 to slide on the pneumatic slide rail 46, drive the chain plate 43 to abut and approach the chain plate 43 of the stacking area, so as to receive the stacked pallet 42 and transport it from the stacking area to the rotating disk 45;

[0069] S62 , rotating the rotating disk 45 , driving the chain plate 43 to slide on the pneumatic slide rail 46 , and transporting the stacked pallet 42 to the winding unit 30 .

[0070] In this embodiment, a plurality of chain plates 43 are provided to form a first transport route from the upper tray area to the rotating tray 45 and then to the stacking area, a second transport route from the upper tray area to the rotating tray 45 and then to the auxiliary area, and from the stacking area to the rotating tray 45 and then to the winding unit 30 and then to the docking area. The rotating tray 45 allows the pallet 42 to flow between the various transport routes and maintain the correct orientation.

[0071] To sum up, in the process of using an automatic packaging and sorting method for paper coils to pack and sort the automatic packaging system for paper coils, information on the paper coils is entered through automated equipment and visual sensors, and then the robot stacking unit 20 cooperates with the temporary storage area, the stacking area, and the auxiliary area to classify and sort the paper coils. The paper trays in multiple batches are stacked in the middle with high-quality paper trays to reduce damage caused by transportation and improve the integrity of high-quality paper trays. Multiple functional areas are connected together through a plurality of chain plates 43. Through a variety of technical means and collaborative sorting methods, the automation, efficiency, and precision of the paper coil packaging process are achieved, effectively improving production efficiency, product quality, and management level.

[0072] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic paper coil packaging system, comprising: A transfer unit, a robot stacking unit (20), a wrapping unit (30), a conveying component and a control system, wherein the conveying component comprises: A transition device (41) is used to transport the workpieces collected by the transfer unit to the robot stacking unit (20) for sorting and stacking, and a temporary storage area is correspondingly provided for auxiliary sorting; A pallet (42), wherein the robot palletizing unit (20) sorts the paper rolls onto the pallet (42); A plurality of chain plates (43) are used to transport the pallets (42) after being stacked at the robot palletizing unit (20). The automatic packaging system is provided with a stacking area, an upper plate area, an auxiliary area, and a docking area. The chain plates (43) are distributed in each area. The chain plates (43) in the upper plate area are used to supply pallets (42) into the system. The chain plates (43) in the stacking area and the auxiliary area are used to assist the robot palletizing unit (20) in sorting and stacking the pallets (42). The stacked pallets (42) are transported to the wrapping unit (30) via the chain plates (43) for packaging, and finished products are output from the docking area.

2. The automatic paper coil packaging system according to claim 1, characterized in that: The reprinting unit comprises: A transport trolley (11) for inputting the cut paper rolls; A transfer truss (12), wherein the transition device (41) has an input end and an output end, and the transfer truss (12) is arranged at the input end of the transition device (41); A first sliding frame (13) is slidably arranged on the transfer truss (12) along a first preset direction; A second sliding frame (14) is slidably arranged on the first sliding frame (13) along a second preset direction; The gripping device (15) comprises a detection part and a fixing part, wherein the fixing part is slidably arranged along the central axis direction of the paper coil, and the fixing part is used to pass through the paper coil arranged on the transport trolley (11) and transport it to the transition device (41), and the detection part detects and records the paper coil on the fixing part, and the detection part is communicatively connected with the control system.

3. The automatic paper coil packaging system according to claim 2, characterized in that: Also includes: A pallet positioning mechanism (44) is installed in the stacking area and the auxiliary area, and fixes the relative position of the pallet (42) in the stacking area and the auxiliary area by abutting against the pallet (42); A rotating disk (45) rotatably disposed between the upper disk area and the stacking area; A pneumatic slide rail (46) is arranged on the rotating disk (45), and the chain plate (43) is slidably arranged on the pneumatic slide rail (46) for sliding close to the upper disk area or the stacking area.

4. The automatic paper coil packaging system according to claim 3, characterized in that: Also includes: The clamping member (47) is slidably mounted on the transition device (41) and slides to abut against the paper roll.

5. A method for automatic packaging and sorting of paper coils, characterized in that: The automatic paper coil packaging system according to claim 4 comprises the following steps: S1, transporting the cut paper discs to the transfer truss (12) by means of the transport trolley (11), manually inspecting and labeling the paper discs; S2, driving the first sliding frame (13) and the second sliding frame (14) to preliminarily locate the position of the paper tray through visual control and the control system, and sliding out the fixing portion, lowering the second sliding frame (14) along a second preset direction, and when the fixing portion coincides with the central axis of the paper tray, sliding the fixing portion to pass through a plurality of paper trays, and fixing the relative position of the fixing portion and the gripping device (15); S3, scanning the paper roll on the fixing part through the detection part, and entering the information into the control system; S4, the transition device (41) receives the paper roll after input on the fixed part and transports it from the input end to the output end; S5, the robot stacking unit (20) sorts the paper rolls with different bar codes according to the result of the bar code scanning detection through the control system, and stacks them on the tray (42); S6, the conveying component transports the stacked pallet (42) to the wrapping unit (30) for film coating and packaging; S7, the conveying component outputs the packaged paper tray (42) from the docking area to the system.

6. The method for automatic packaging and sorting of paper coils according to claim 5, characterized in that: Step S4 also includes the following steps: S41, the transition device (41) is slidably disposed between the input end and the output end, and the transition device (41) moves toward the output end after receiving the paper roll at the input end; S42, after the robot stacking unit (20) sorts out a portion of the paper rolls from the transition device (41), the sliding clamp (47) abuts against the remaining paper rolls, and controls the transition device (41) to perform a compensatory displacement toward the output end, so that the paper rolls to be added remain in the same position; S43, when the paper roll is transferred, the control system drives the transition device (41) back to the input end to repeat steps S41 to S43.

7. The method for automatic packaging and sorting of paper rolls according to claim 5, characterized in that: Step S5 also includes the following steps: S51, the control system classifies the same group of paper rolls, marking the paper rolls at both ends and the paper rolls with uneven cut surfaces as category A, and marking the rest as category B; S52, the robot stacking unit (20) takes out the paper coils on the transition device (41), and through temporary stacking and multiple sorting in the temporary storage area and the auxiliary area, places the type A paper coils at the bottom and top of the stack, and stacks the type B paper coils between the type A paper coils.

8. The method for automatic packaging and sorting of paper coils according to claim 5, characterized in that: Step S6 also includes the following steps: S61, canceling the abutment of the fixing mechanism of the pallet (42), driving the chain plate (43) to slide on the pneumatic slide rail (46), driving the chain plate (43) to abut against and approach the chain plate (43) of the stacking area, thereby receiving the stacked pallet (42) and transporting it from the stacking area to the rotating disk (45); S62, rotating the rotating disk (45), driving the chain plate (43) to slide on the pneumatic slide rail (46), and transporting the stacked pallet (42) to the winding unit (30).

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